Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—

This work applies real-time nonlinear model predictive control (NMPC) to fault-tolerant control problems of an unmanned aerial vehicle (UAV) with failed rotors. In the control problem, a hexacopter with up to three failed rotors out of the six available rotors is considered. The NMPC approach includ...

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Autores principales:	Yusuke AOKI, Yuta ASANO, Akihiko HONDA, Norizumi MOTOOKA, Kenta HOSHINO, Toshiyuki OHTSUKA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2021
Materias:	nonlinear control predictive control optimal control unmanned aerial vehicle fault-tolerant control quaternion Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/d7138de5f2ea41fbae800de4dc0efb38
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spelling	oai:doaj.org-article:d7138de5f2ea41fbae800de4dc0efb382021-11-09T00:01:15ZNonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—2187-974510.1299/mej.21-00204https://doaj.org/article/d7138de5f2ea41fbae800de4dc0efb382021-09-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/8/5/8_21-00204/_pdf/-char/enhttps://doaj.org/toc/2187-9745This work applies real-time nonlinear model predictive control (NMPC) to fault-tolerant control problems of an unmanned aerial vehicle (UAV) with failed rotors. In the control problem, a hexacopter with up to three failed rotors out of the six available rotors is considered. The NMPC approach includes a quaternion-based nonlinear model of the hexacopter as well as constraints in the thrusts to consider the inherent nonlinearities of UAVs. The proposed method aims to achieve real-time optimization of the NMPC in the on-board computers without any linearization. We explore all possible scenarios in up to three rotor failures and demonstrate control designs in the NMPC for these scenarios. The simulation results indicate that by using the quaternion model, the position and attitude of a hexacopter can be controlled from a large inclined initial state with a non-zero angular velocity and falling velocity. Moreover, the results reveal that the quaternion model is superior to the Euler angle model in terms of the computation time. We also conduct hardware experiments using an actual hexacopter with a failed rotor to demonstrate the real-time NMPC optimization. The results of the simulations and hardware experiments demonstrate that the NMPC can deal with various operation conditions of a hexacopter in a unified manner, with only minor modifications in the performance index.Yusuke AOKIYuta ASANOAkihiko HONDANorizumi MOTOOKAKenta HOSHINOToshiyuki OHTSUKAThe Japan Society of Mechanical Engineersarticlenonlinear controlpredictive controloptimal controlunmanned aerial vehiclefault-tolerant controlquaternionMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 8, Iss 5, Pp 21-00204-21-00204 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	nonlinear control predictive control optimal control unmanned aerial vehicle fault-tolerant control quaternion Mechanical engineering and machinery TJ1-1570
spellingShingle	nonlinear control predictive control optimal control unmanned aerial vehicle fault-tolerant control quaternion Mechanical engineering and machinery TJ1-1570 Yusuke AOKI Yuta ASANO Akihiko HONDA Norizumi MOTOOKA Kenta HOSHINO Toshiyuki OHTSUKA Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—
description	This work applies real-time nonlinear model predictive control (NMPC) to fault-tolerant control problems of an unmanned aerial vehicle (UAV) with failed rotors. In the control problem, a hexacopter with up to three failed rotors out of the six available rotors is considered. The NMPC approach includes a quaternion-based nonlinear model of the hexacopter as well as constraints in the thrusts to consider the inherent nonlinearities of UAVs. The proposed method aims to achieve real-time optimization of the NMPC in the on-board computers without any linearization. We explore all possible scenarios in up to three rotor failures and demonstrate control designs in the NMPC for these scenarios. The simulation results indicate that by using the quaternion model, the position and attitude of a hexacopter can be controlled from a large inclined initial state with a non-zero angular velocity and falling velocity. Moreover, the results reveal that the quaternion model is superior to the Euler angle model in terms of the computation time. We also conduct hardware experiments using an actual hexacopter with a failed rotor to demonstrate the real-time NMPC optimization. The results of the simulations and hardware experiments demonstrate that the NMPC can deal with various operation conditions of a hexacopter in a unified manner, with only minor modifications in the performance index.
format	article
author	Yusuke AOKI Yuta ASANO Akihiko HONDA Norizumi MOTOOKA Kenta HOSHINO Toshiyuki OHTSUKA
author_facet	Yusuke AOKI Yuta ASANO Akihiko HONDA Norizumi MOTOOKA Kenta HOSHINO Toshiyuki OHTSUKA
author_sort	Yusuke AOKI
title	Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—
title_short	Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—
title_full	Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—
title_fullStr	Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—
title_full_unstemmed	Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—
title_sort	nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—
publisher	The Japan Society of Mechanical Engineers
publishDate	2021
url	https://doaj.org/article/d7138de5f2ea41fbae800de4dc0efb38
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Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—

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