References

• Controller

[1] G. P. Falconi and F. Holzapfel, “Adaptive Fault Tolerant Control Allocation for a Hexacopter System,” Proc. Am. Control Conf., vol. 2016-July, pp. 6760–6766, 2016.

• Reference model (e.g., xd, vd, ad, addot, adddot)

[2] S. J. Su, Y. Y. Zhu, H. R. Wang, and C. Yun, “A Method to Construct a Reference Model for Model Reference Adaptive Control,” Adv. Mech. Eng., vol. 11, no. 11, pp. 1–9, 2019.

Bezier curve θ: a vector whose length is (N+1); each element can also be vector, e.g., θ = [[1, 2, 3], [2, 3, 4]]

Constrained-optimisation-based control allocator.

Variables

ν: virtual input

Notes

ν = B*u where u: control input

FDI with simple time delay. Λ_func: function of t.

Low pass filter (LPF) -like FDI.

Loss of effectiveness (LoE).

Several functions are exported from utils.jl, e.g., Tuinv(T).

Λ: effectiveness matrix

Dynamical equations with faults for Multicopter.

Variables

f ∈ R: total thrust M ∈ R^3: moment Λ: effectiveness matrix

Multicopter + BacksteppingPositionController

Variables

Λ ∈ R^(n×n): effectiveness matrix _Λ ∈ R^n: effectiveness vector

Select the last fault (concerning the applied time) among given faults.