ロータ故障時のクアッドロータの幾何学的耐故障制御：姿勢誤差指標に基づく比較研究
Geometric Fault-Tolerant Control of Quadrotors in Case of Rotor Failures: An Attitude Based Comparative Study
クアッドロータの単一・複数ロータ故障に対応するため、SO(3)×R^3上の幾何学的追従制御器を拡張し、複数の姿勢誤差指標を比較評価した。
著者: Jennifer Yeom, Guanrui Li, Giuseppe Loianno
分類: cs.RO
原文アブストラクト
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control strategy for quadrotors that can adapt to single and dual complete rotor failures. Our approach augments a classic geometric tracking controller on $SO(3)\times\mathbb{R}^3$ to accommodate the effects of rotor failures. We provide an in-depth analysis of several attitude error metrics to identify the most appropriate design choice for fault-tolerant control strategies. To assess the effectiveness of these metrics, we evaluate trajectory tracking accuracies. Simulation results demonstrate the performance of the proposed approach.
