A Fault-Tolerant Control Scheme for Fixed-Wing UAVs with Flight Envelope Integration

Georgios Zogopoulos-Papaliakos, George C. Karras, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Fault-tolerant control is currently the most important step towards increased autonomy for Unmanned Aerial Vehicles (UAVs). In this work, we consider actuator and airframe faults in fixed-wing UAVs and show that an online Flight Envelope (FE) calculation can interpret their effect on the achievable trim trajectories. Subsequently, we design a fully integrated control scheme with a RRT-based planner and 3 Nonlinear Model Predictive Control (MPC) layers. The FE is provided at each control layer with the beneficial result that non-trimmable, unstable trajectories are avoided. Results from high-fidelity simulations are provided.

Original languageEnglish (US)
Title of host publication2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1030-1039
Number of pages10
ISBN (Electronic)9781728142777
DOIs
StatePublished - Sep 2020
Event2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 - Athens, Greece
Duration: Sep 1 2020Sep 4 2020

Publication series

Name2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020

Conference

Conference2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Country/TerritoryGreece
CityAthens
Period9/1/209/4/20

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

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