複数の故障したロータを有するオクトコプタのためのフォールトトレラント制御の定式化

抄録

Fault-tolerant control (FTC) is known as a typical example of fail-safe systems applied to unmanned aerial vehicles. The feasibility of reconfiguring the control systems by FTC is highly dependent on the structural controllability of the systems. In this study, the structural controllability of octo-copters with multiple failed rotors is expressed as general equations. For this objective, the conditions for input-connectivity and for structured rank, which are necessary conditions for systems to be structural controllable, are formulated. Then, it becomes clear that the condition for the systems to be input-connectable subsumes the condition on structured rank. Furthermore, it can be confirmed that there exist faults for which the control systems can be reconfigured while satisfying the formulated conditions.