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arXiv · 2201.07121

Reconfigurable Control of a Class of Multicopters

Hafiz Zeeshan Iqbal Khan·Jahanzeb Rajput·Jamshed Riaz
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Abstract

In this paper, a reconfigurable control scheme for a generalized class of multicopters is presented to overcome single or multiple rotor failures. In a multicopter, the rotor failure heavily affects its dynamics and thus its controllability. Limited controllability leads to limited or no reconfigurability. \emph{Available Control Authority Index} has been recently developed \cite{Du2015} as a measure of controllability of multicopters. In this work, the notion of \emph{Available Reduced-Control Authority Index} (ArCAI) is introduced, which shows that in some uncontrollable failures it is still possible to control reduced set of states. Based on this notion, a reconfigurable control scheme is presented, which comprises a \emph{Nonlinear Dynamic Inversion} based baseline control law, a constrained control allocation scheme along with some modifications to incorporate reconfiguration, and a simplified fault detection and isolation technique. Simulation results for a commonly used configuration of Hexacopter are presented in the presence of single and multiple rotor failures.

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Hafiz Zeeshan Iqbal Khan, Jahanzeb Rajput, Jamshed Riaz. 2022-01-18. Reconfigurable Control of a Class of Multicopters. https://doi.org/10.23919/ecc51009.2020.9143731

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