An input-dependent safety measure and fail-safe strategy for multicopters
In order to prevent loss of control (LOC) accidents, the real-time safety measure problem is studied for multicopters. Unlike the existing work, this paper does not try to monitor the performance of the controllers by system states. In turn, the lumped disturbances of multicopters under off-nominal...
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| Format: | Article |
| Language: | English |
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ELS Publishing (ELSP)
2024-04-01
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| Series: | Artificial Intelligence and Autonomous Systems |
| Subjects: | |
| Online Access: | https://elsp-homepage.oss-cn-hongkong.aliyuncs.compaper/journal/open/AIAS/2024/aias20240002.pdf |
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| author | Gen Cui Guangxun Du Quan Quan Zhiyu Xi Yang Liu Kai-Yuan Cai |
| author_facet | Gen Cui Guangxun Du Quan Quan Zhiyu Xi Yang Liu Kai-Yuan Cai |
| author_sort | Gen Cui |
| collection | DOAJ |
| description | In order to prevent loss of control (LOC) accidents, the real-time safety measure problem is studied for multicopters. Unlike the existing work, this paper does not try to monitor the performance of the controllers by system states. In turn, the lumped disturbances of multicopters under off-nominal conditions on input are estimated to affect a proposed measure to show users whether a multicopter will be LOC. Firstly, a new degree of controllability (DoC) is proposed for multicopters subject to control constraints and off-nominal conditions. An input-dependent safety measure is then defined based on the new DoC to show the control performance for multicopters to ensure safety. Besides, the proposed measure is applied to a fail-safe strategy to guide the control decision of multicopter under off-nominal conditions. Finally, simulation and experimental results show the effectiveness of the proposed measure and fail-safe strategy. |
| format | Article |
| id | doaj-art-1ad71be62f9f4a31b3d0ad7012b1b60f |
| institution | Kabale University |
| issn | 2959-0744 2959-0752 |
| language | English |
| publishDate | 2024-04-01 |
| publisher | ELS Publishing (ELSP) |
| record_format | Article |
| series | Artificial Intelligence and Autonomous Systems |
| spelling | doaj-art-1ad71be62f9f4a31b3d0ad7012b1b60f2025-08-20T03:36:53ZengELS Publishing (ELSP)Artificial Intelligence and Autonomous Systems2959-07442959-07522024-04-011111710.55092/aias202400021724054748821053440An input-dependent safety measure and fail-safe strategy for multicoptersGen Cui0Guangxun Du1Quan Quan2Zhiyu Xi3Yang Liu4Kai-Yuan Cai5Information Science Academy, China Electronics Technology Group Corporation, Beijing 100041, ChinaInformation Science Academy, China Electronics Technology Group Corporation, Beijing 100041, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaIn order to prevent loss of control (LOC) accidents, the real-time safety measure problem is studied for multicopters. Unlike the existing work, this paper does not try to monitor the performance of the controllers by system states. In turn, the lumped disturbances of multicopters under off-nominal conditions on input are estimated to affect a proposed measure to show users whether a multicopter will be LOC. Firstly, a new degree of controllability (DoC) is proposed for multicopters subject to control constraints and off-nominal conditions. An input-dependent safety measure is then defined based on the new DoC to show the control performance for multicopters to ensure safety. Besides, the proposed measure is applied to a fail-safe strategy to guide the control decision of multicopter under off-nominal conditions. Finally, simulation and experimental results show the effectiveness of the proposed measure and fail-safe strategy.https://elsp-homepage.oss-cn-hongkong.aliyuncs.compaper/journal/open/AIAS/2024/aias20240002.pdfmulticoptersloss of controlsafety measuredegree of controllabilityhealth evaluation |
| spellingShingle | Gen Cui Guangxun Du Quan Quan Zhiyu Xi Yang Liu Kai-Yuan Cai An input-dependent safety measure and fail-safe strategy for multicopters Artificial Intelligence and Autonomous Systems multicopters loss of control safety measure degree of controllability health evaluation |
| title | An input-dependent safety measure and fail-safe strategy for multicopters |
| title_full | An input-dependent safety measure and fail-safe strategy for multicopters |
| title_fullStr | An input-dependent safety measure and fail-safe strategy for multicopters |
| title_full_unstemmed | An input-dependent safety measure and fail-safe strategy for multicopters |
| title_short | An input-dependent safety measure and fail-safe strategy for multicopters |
| title_sort | input dependent safety measure and fail safe strategy for multicopters |
| topic | multicopters loss of control safety measure degree of controllability health evaluation |
| url | https://elsp-homepage.oss-cn-hongkong.aliyuncs.compaper/journal/open/AIAS/2024/aias20240002.pdf |
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