Mathematical Modeling of Hexacopter

Fault Tolerant Control of Hexacopter for Actuator Faults using Time Delay Control Method

A novel attitude tacking control method using Time Delay Control (TDC) scheme is developed to provide robust controllability of a rigid hexacopter in case of single or multiple rotor faults. When the TDC scheme is developed, the rotor faults such as the abrupt and/or incipient rotor faults are considered as model uncertainties. The kinematics, modeling of rigid dynamics of hexacopter, and desig...

Controllability Analysis and Degraded Control for a Class of Hexacopters Subject to Rotor Failures

This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated and its controllability matrix is row full rank. According to this, a fault tolerant control strategy is proposed to control a degraded system, where the yaw...

Autonomous Hexacopter Software Design

Designing Fuzzy Logic Controllers for ROS-Based Multirotors

This chapter presents a tutorial on using an open-source ROS package for implementing control systems based on Fuzzy Logic. Such a package has been created to facilitate the development of fuzzy control systems along with ROS technology and infrastructure. A step-by-step tutorial discusses how to develop a set of distributed and interconnected fuzzy controllers using the proposed ROS package. A...

Fuzzy relations, Possibility theory, Measures of uncertainty, Mathematical modeling.

A central aim of educational research in the area of mathematical modeling and applications is to recognize the attainment level of students at defined states of the modeling process. In this paper, we introduce principles of fuzzy sets theory and possibility theory to describe the process of mathematical modeling in the classroom. The main stages of the modeling process are represented as fuzz...