Hexacopter fault tolerant actuator allocation analysis for optimal thrust

Pose, Claudio D.; Giribet, Juan I.; Ghersin, Alejandro S.

Ponencia en Congreso:
Hexacopter fault tolerant actuator allocation analysis for optimal thrust

dc.contributor.author	Pose, Claudio D.
dc.contributor.author	Giribet, Juan I.
dc.contributor.author	Ghersin, Alejandro S.
dc.date.accessioned	2019-08-14T20:14:04Z
dc.date.available	2019-08-14T20:14:04Z
dc.date.issued	2017
dc.description.abstract	"Recently, it was shown that an hexagon shaped hexarotor vehicle with tilted rotors, is capable of fault tolerant attitude and altitude control. In this work, we propose a strategy to select the signals commanded to each rotor in order to achieve a desired torque and vertical force. The proposed strategy is optimal in the sense that minimizes the maximum force exerted by the rotors. A comparison with the commonly used strategy based upon the Moore-Penrose pseudoinverse is carried out. It is shown that, with the optimal strategy proposed here, maneuverability is improved, because the new method takes into account the actuators constraints. Although the optimal strategy is computationally more demanding than the classical method, the additional computational burden is not significant when both strategies are compared in a real application. To show this, both algorithms were programmed in an autopilot based on an ARM Cortex M3 microcontroller, and the experimental results are presented."	en
dc.identifier.isbn	978-1509-04-494-8
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/1711
dc.language.iso	en	en
dc.relation	info:eu-repo/semantics/altIdentifier/doi/10.1109/ICUAS.2017.7991321
dc.relation	info:eu-repo/grantAgreement/UNPA /PI29/C066/AR. Santa Cruz. Río Gallegos
dc.relation	info:eu-repo/grantAgreement/ANPCyT/ PICT/2014-2055/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/ITBA/ITBACyT/28/AR. Ciudad Autónoma de Buenos Aires
dc.subject	MICRO VEHICULOS AEREOS	es
dc.subject	TOLERANCIA A FALLOS	es
dc.subject	SISTEMAS DE CONTROL	es
dc.subject	ACTUADORES	es
dc.title	Hexacopter fault tolerant actuator allocation analysis for optimal thrust	en
dc.type	Ponencias en Congresos	es
dc.type	info:eu-repo/semantics/acceptedVersion
dspace.entity.type	Ponencia en Congreso
itba.description.filiation	Fil: Pose, Claudio D. Universidad de Buenos Aires; Argentina.
itba.description.filiation	Fil: Giribet, Juan I. Universidad de Buenos Aires; Argentina.
itba.description.filiation	Fil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiation	Fil: Ghersin, Alejandro S. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiation	Fil: Ghersin, Alejandro S. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.