Design of a flight controller to achieve improved fault tolerance
In the last years, multirotor aerial vehicles have gained popularity both as consumer products and in professional applications. Safety is one of the main concerns during operation, and different approaches to fault tolerance have been proposed and continue to be developed. For a control system to b...
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2022
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| Acceso en línea: | https://elektron.fi.uba.ar/elektron/article/view/162 https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=162_oai |
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I28-R145-162_oai2026-02-11 Pose, Claudio Garberoglio, Leonardo Pecker-Marcosig, Ezequiel Mas, Ignacio Giribet, Juan 2022-12-15 In the last years, multirotor aerial vehicles have gained popularity both as consumer products and in professional applications. Safety is one of the main concerns during operation, and different approaches to fault tolerance have been proposed and continue to be developed. For a control system to be able to handle off-nominal situations, failures must be properly detected and identified; therefore, a fault detection and identification algorithm is required. Also, the control loop has to be accordingly modified to cope with each particular failure in the best way possible. These algorithms usually run on the vehicle’s low-level flight computer, imposing on it a large additional computational load. In this work, a fault detection and identification module is used to evaluate its impact in terms of additional processing time on a flight computer based on the Cortex-M3 microcontroller. While a highly optimized version of the algorithm is able to run, it still suggests potential hardware limitations for expanding the system capabilities. The evaluation of the same module on an improved flight computer design based on a Cortex-M7 micro-processor shows a significantly reduced footprint in the overall performance, allowing for the addition of an augmented method for faster failure detection. En los últimos años, los vehículos aéreos multirotores han ganado popularidad tanto en productos de consumo como en aplicaciones profesionales. La seguridad es una de las principales preocupaciones durante la operación y diferentes enfoques a la tolerancia a fallas se han propuesto y continúan desarrollándose. Para que un sistema de control maneje situaciones fuera de lo nominal, las fallas deben detectarse e identificarse adecuadamente, por lo tanto, se requiere un algoritmo de detección e identificación de fallas. Además, el lazo de control debe modificarse en consecuencia para hacer frente a cada falla de la mejor manera posible. Estos algoritmos generalmente se ejecutan en la computadora de vuelo de bajo nivel del vehículo, lo que le impone una gran carga computacional adicional. En este trabajo se utiliza un módulo de detección e identificación de fallas para evaluar su impacto en términos de tiempo de procesamiento adicional en una computadora de vuelo basada en el microcontrolador Cortex-M3. Si bien se puede ejecutar una versión altamente optimizada del algoritmo, aún sugiere posibles limitaciones de hardware para expandir las capacidades del sistema. La evaluación del mismo módulo en un diseño de computadora de vuelo mejorado basado en un microprocesador Cortex-M7 muestra una huella significativamente reducida en el rendimiento general, lo que permite agregar un método aumentado para una detección de fallas más rápida. application/pdf text/html https://elektron.fi.uba.ar/elektron/article/view/162 10.37537/rev.elektron.6.2.162.2022 eng FIUBA https://elektron.fi.uba.ar/elektron/article/view/162/297 https://elektron.fi.uba.ar/elektron/article/view/162/310 Derechos de autor 2022 Claudio Pose, Leonardo Garberoglio, Ezequiel Pecker-Marcosig, Ignacio Mas, Juan Giribet Elektron Journal; Vol. 6 No. 2 (2022); 65-76 Revista Elektron; Vol. 6 Núm. 2 (2022); 65-76 Revista Elektron; v. 6 n. 2 (2022); 65-76 2525-0159 2525-0159 Flight computer Unmanned Aerial Vehicles Fault Tolerance Fault Detection and Identification Design of a flight controller to achieve improved fault tolerance Diseño de una controladora de vuelo para lograr tolerancia a fallas mejorada info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=162_oai |
| institution |
Universidad de Buenos Aires |
| institution_str |
I-28 |
| repository_str |
R-145 |
| collection |
Repositorio Digital de la Universidad de Buenos Aires (UBA) |
| language |
Inglés |
| orig_language_str_mv |
eng |
| topic |
Flight computer Unmanned Aerial Vehicles Fault Tolerance Fault Detection and Identification |
| spellingShingle |
Flight computer Unmanned Aerial Vehicles Fault Tolerance Fault Detection and Identification Pose, Claudio Garberoglio, Leonardo Pecker-Marcosig, Ezequiel Mas, Ignacio Giribet, Juan Design of a flight controller to achieve improved fault tolerance |
| topic_facet |
Flight computer Unmanned Aerial Vehicles Fault Tolerance Fault Detection and Identification |
| description |
In the last years, multirotor aerial vehicles have gained popularity both as consumer products and in professional applications. Safety is one of the main concerns during operation, and different approaches to fault tolerance have been proposed and continue to be developed. For a control system to be able to handle off-nominal situations, failures must be properly detected and identified; therefore, a fault detection and identification algorithm is required. Also, the control loop has to be accordingly modified to cope with each particular failure in the best way possible. These algorithms usually run on the vehicle’s low-level flight computer, imposing on it a large additional computational load. In this work, a fault detection and identification module is used to evaluate its impact in terms of additional processing time on a flight computer based on the Cortex-M3 microcontroller. While a highly optimized version of the algorithm is able to run, it still suggests potential hardware limitations for expanding the system capabilities. The evaluation of the same module on an improved flight computer design based on a Cortex-M7 micro-processor shows a significantly reduced footprint in the overall performance, allowing for the addition of an augmented method for faster failure detection. |
| format |
Artículo publishedVersion |
| author |
Pose, Claudio Garberoglio, Leonardo Pecker-Marcosig, Ezequiel Mas, Ignacio Giribet, Juan |
| author_facet |
Pose, Claudio Garberoglio, Leonardo Pecker-Marcosig, Ezequiel Mas, Ignacio Giribet, Juan |
| author_sort |
Pose, Claudio |
| title |
Design of a flight controller to achieve improved fault tolerance |
| title_short |
Design of a flight controller to achieve improved fault tolerance |
| title_full |
Design of a flight controller to achieve improved fault tolerance |
| title_fullStr |
Design of a flight controller to achieve improved fault tolerance |
| title_full_unstemmed |
Design of a flight controller to achieve improved fault tolerance |
| title_sort |
design of a flight controller to achieve improved fault tolerance |
| publisher |
FIUBA |
| publishDate |
2022 |
| url |
https://elektron.fi.uba.ar/elektron/article/view/162 https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=162_oai |
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