ControlAllocationSwitching

• A repository for the codes used in the paper, Jinrae Kim et al., "Control Allocation Switching Scheme for Fault Tolerant Control of Hexacopter", presented in 2021 Asia-Pacific International Symposium on Aerospace Technology (APISAT2021), Jeju, Korea.

Notes

Dependencies

• Julia v1.6.2
• Others will automatically be installed via Project.toml.

How to reproduce the simulation result?

Case configuration

• In src/simulation.jl, comment out an undesirable fault case. For example, to perform the case of moderate actuator faults,

# case 1: actuator saturated
# faults = FaultSet(
#                   LoE(3.0, 1, 0.3),  # t, index, level
#                   LoE(5.0, 3, 0.1),
#                  )  # Note: antisymmetric configuration of faults can cause undesirable control allocation; sometimes it is worse than multiple faults of rotors in symmetric configuration.
# case 2: actuator not saturated
faults = FaultSet(
        LoE(3.0, 1, 0.5),  # t, index, level
        LoE(5.0, 3, 0.5),
        )  # Note: antisymmetric configuration of faults can cause undesirable control allocation; sometimes it is worse than multiple faults of rotors in symmetric configuration.

and the case of severe actuator faults,

# case 1: actuator saturated
faults = FaultSet(
                  LoE(3.0, 1, 0.3),  # t, index, level
                  LoE(5.0, 3, 0.1),
                 )  # Note: antisymmetric configuration of faults can cause undesirable control allocation; sometimes it is worse than multiple faults of rotors in symmetric configuration.
# case 2: actuator not saturated
# faults = FaultSet(
#         LoE(3.0, 1, 0.5),  # t, index, level
#         LoE(5.0, 3, 0.5),
#         )  # Note: antisymmetric configuration of faults can cause undesirable control allocation; sometimes it is worse than multiple faults of rotors in symmetric configuration.

Run

Run the function main() in main.jl.

Saved data and figures

• See data for time response plots and figures for illustrations.

Note

• Once simulation data are saved in data, running simulation simply reuse the saved data to draw figures. To perform a new simulation, please remove the saved data.

Examples

• Hexacopter description

• Top view

• Problem description

• Scheme description