Recoverable set computation for post-fault/failure quadrotors based on sum of squares (SOS)
文献类型：会议论文
| 作者 | Qi X(齐欣); Theilliol, Didier; He YQ(何玉庆) ; Han JD(韩建达)
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| 出版日期 | 2016 |
| 会议名称 | 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 |
| 会议日期 | September 7-9, 2016 |
| 会议地点 | Barcelona, Spain |
| 页码 | 73-78 |
| 通讯作者 | 齐欣 |
| 中文摘要 | In this paper, an evaluation approach of recoverable performance for post-fault quadrotors is investigated. Both propeller faults and failures are considered, such as loss of partial propeller effectiveness and loss of one or more propellers. The main contribution is to propose a method to compute recoverable set for different faulty conditions using sum of squares (SOS). The recoverable set is an invariant set and it is the set of initial states, which can be driven to the equilibrium point while respecting propeller faults, failures and rotating speed limits. Before computing the set, feasible equilibrium points are calculated to guarantee relaxed hover solutions against different faulty cases. Simulations illustrate the effectiveness of proposed approach with nonlinear quadrotor dynamics under various fault and failure conditions. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | European Union; Ministerio de Economia y Competitividad; Research Center for Sypervision, Safety and Automatic Control (CS2AC); Universitat Politecnica de Catalunya (UPC) |
| 会议录 | 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| ISSN号 | 2162-1195 |
| ISBN号 | 978-1-5090-0658-8 |
| WOS记录号 | WOS:000391868600012 |
| 源URL | [http://ir.sia.cn/handle/173321/19540]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Qi X,Theilliol, Didier,He YQ,et al. Recoverable set computation for post-fault/failure quadrotors based on sum of squares (SOS)[C]. 见:3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016. Barcelona, Spain. September 7-9, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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