论文标题
可重新配置的一类多功能器
Reconfigurable Control of a Class of Multicopters
论文作者
论文摘要
在本文中，介绍了一类多功能器类别的可重构控制方案，以克服单个转子或多个转子故障。在多翼型中，转子故障严重影响其动力学，从而使其可控性。有限的可控性会导致有限或没有可重构性。 \ emph {可用控制权限索引}最近已开发\ cite {du2015}，以衡量多次驱动器的可控性。在这项工作中，引入了\ emph {可用的减少控制权限索引}（ARCAI）的概念，这表明在某些无法控制的失败中，仍然可以控制减少的状态集。基于此概念，提出了可重构控制方案，其中包括基于基于基线的基线控制定律\ emph {非线性动态反转}，约束的控制分配方案以及一些修改以结合重新配置以及简化的故障检测和隔离技术。在存在单个转子和多个转子故障的情况下，给出了常用己旋配置的仿真结果。
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.
