Nonlinear MPC with motor failure identification and recovery for safe
and aggressive multicopter flight
and aggressive multicopter flight
File(s)
Working paper
Author(s)
Tzoumanikas, Dimos
Yan, Qingyue
Leutenegger, Stefan
Type
Working Paper
Abstract
Safe and precise reference tracking is a crucial characteristic of MAVs that
have to operate under the influence of external disturbances in cluttered
environments. In this paper, we present a NMPC that exploits the fully physics
based non-linear dynamics of the system. We furthermore show how the moment and
thrust control inputs can be transformed into feasible actuator commands. In
order to guarantee safe operation despite potential loss of a motor under which
we show our system keeps operating safely, we developed an EKF based motor
failure identification algorithm. We verify the effectiveness of the developed
pipeline in flight experiments with and without motor failures.
have to operate under the influence of external disturbances in cluttered
environments. In this paper, we present a NMPC that exploits the fully physics
based non-linear dynamics of the system. We furthermore show how the moment and
thrust control inputs can be transformed into feasible actuator commands. In
order to guarantee safe operation despite potential loss of a motor under which
we show our system keeps operating safely, we developed an EKF based motor
failure identification algorithm. We verify the effectiveness of the developed
pipeline in flight experiments with and without motor failures.
Date Issued
2020-02-16
Citation
2020
Publisher
arXiv
Copyright Statement
© 2020 The Author(s)
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Identifier
http://arxiv.org/abs/2002.06598v1
Grant Number
EP/N018494/1
Subjects
cs.RO
cs.RO
Notes
Accepted in the International Conference on Robotics and Automation (ICRA) 2020. 7 (6 + 1) pages. Video link: https://youtu.be/cAQeSZ3tIqY
Publication Status
Published