Fault diagnosis and fault-tolerant control strategy for rotor failure in an octorotor

This paper presents a fault tolerant approach for a coaxial octorotor regarding rotor failures. A complete architecture including error detection, fault isolation and system recovery is presented. The diagnosis system is designed with a nonlinear observer to generate residuals and an inference model...

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Bibliographic Details
Main Authors: Saied, Majd, Lussier, Benjamin, Fantoni, Isabelle, Francis, Clovis, Shraim, Hassan, Sanahuja, Guillaume
Format: Conference Proceeding
Language:English
Subjects:
Angular velocity
Brushless motors
Fault tolerance
Fault tolerant systems
Observers
Propellers
Rotors
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Summary:This paper presents a fault tolerant approach for a coaxial octorotor regarding rotor failures. A complete architecture including error detection, fault isolation and system recovery is presented. The diagnosis system is designed with a nonlinear observer to generate residuals and an inference model to evaluate them and isolate the faulty motor. Once the motor failure is diagnosed, a recovery algorithm is applied. It uses the built-in hardware redundancy of the octorotor and compensates the loss of the failing motor by controlling its dual to keep a stable flight that allows the multirotor to continue its mission. This architecture is validated on real flights.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2015.7139933