Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight

Dimos Tzoumanikas; Qingyue Yan; Stefan Leutenegger

Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight

Robotics 2020-02-18 v1

Authors: Dimos Tzoumanikas , Qingyue Yan , Stefan Leutenegger

Abstract

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.

Keywords

nonlinear mpc motor failure identification multicopter safe flight ekf actuator commands flight experiments

Cite

@article{arxiv.2002.06598,
  title  = {Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight},
  author = {Dimos Tzoumanikas and Qingyue Yan and Stefan Leutenegger},
  journal= {arXiv preprint arXiv:2002.06598},
  year   = {2020}
}

Comments

Accepted in the International Conference on Robotics and Automation (ICRA) 2020. 7 (6 + 1) pages. Video link: https://youtu.be/cAQeSZ3tIqY

Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight

Abstract

Keywords

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