论文标题
非线性MPC具有运动故障识别和恢复，以实现安全和激进的多功能飞行
Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight
论文作者
论文摘要
安全，精确的参考跟踪是MAV的关键特征，这些特征必须在混乱环境中外部干扰的影响下进行操作。在本文中，我们提出了一个NMPC，该NMPC利用了系统的完全基于物理的非线性动力学。我们还显示了如何将矩和推力控制输入转换为可行的执行器命令。为了确保安全操作，尽管我们显示系统可以安全地运行的电动机潜在损失，但我们开发了一种基于EKF的电动机故障识别算法。我们验证开发管道在有和没有电动机故障的飞行实验中的有效性。
Safe and precise reference tracking is a crucial characteristic of MAVs that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a NMPC that exploits the fully physics based non-linear dynamics of the system. We furthermore show how the moment and thrust control inputs can be transformed into feasible actuator commands. In order to guarantee safe operation despite potential loss of a motor under which we show our system keeps operating safely, we developed an EKF based motor failure identification algorithm. We verify the effectiveness of the developed pipeline in flight experiments with and without motor failures.
