期刊名称：International Journal of Applied Mathematics and Computer Science
电子版ISSN：2083-8492
出版年度：2018
卷号：28
期号：2
页码：1-13
DOI：10.2478/amcs-2018-0022
出版社：De Gruyter Open
摘要：This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a
cascaded structure composed of a position and an attitude control loop. The nominal controller is augmented by an adaptive
control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the
controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions
in the case of extreme degradation. The main contribution is a controller that is a step closer to application scenarios by
including outdoor GPS-based flight tests, onboard computation and the handling of unknown degradation and failure of any
rotor.
