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Computer Science > Robotics

arXiv:1705.08775 (cs)
[Submitted on 24 May 2017 (v1), last revised 16 Nov 2017 (this version, v2)]

Title:A Control Performance Index for Multicopters Under Off-nominal Conditions

Authors:Guang-Xun Du, Quan Quan, Zhiyu Xi, Yang Liu, Kai-Yuan Cai
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Abstract:In order to prevent loss of control (LOC) accidents,the real-time control performance monitoring problem is studied for multicopters. Different from the existing work, this paper does not try to monitor the performance of the controllers directly. In turn, the disturbances of multicopters under off-nominal conditions are estimated to affect a proposed index to tell the user whether the multicopter will be LOC or not. Firstly, a new degree of controllability (DoC) will be proposed for multicopters subject to control constrains and off-nominal conditions. Then a control performance index (CPI) is defined based on the new DoC to reflect the control performance for multicopters. Besides, the proposed CPI is applied to a new switching control framework to guide the control decision of multicopter under off-nominal conditions. Finally, simulation and experimental results show the effectiveness of the CPI and the proposed switching control framework.
Comments: 9 pages, 5 figures
Subjects: Robotics (cs.RO)
Cite as: arXiv:1705.08775 [cs.RO]
  (or arXiv:1705.08775v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1705.08775

Submission history

From: Guang-Xun Du [view email]
[v1] Wed, 24 May 2017 14:05:14 UTC (1,674 KB)
[v2] Thu, 16 Nov 2017 04:47:09 UTC (3,086 KB)
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