Actuator Fault Estimation Method using Hexacopter Symmetry

Hexacopter의 대칭성을 이용한 구동기 고장 추정 방법

  • Lee, Chan Hyeok (Department of Electronic and IT Media Engineering, Seoul National University of Science And Technology) ;
  • Park, Min Kee (Department of Electronic and IT Media Engineering, Seoul National University of Science And Technology)
  • 이찬혁 (서울과학기술대학교 전자IT미디어공학과) ;
  • 박민기 (서울과학기술대학교 전자IT미디어공학과)
  • Received : 2016.04.18
  • Accepted : 2016.05.30
  • Published : 2016.07.01


This paper proposes a method of estimating the actuator faults of a hexacopter without using encoders when one or more of six actuators do not operate normally. In the case of the hexacopter, a Pseudo-Inverse matrix is generally used to obtain the rotational speed of the actuators because the matrix that transforms the rotational speed of the actuators into the thrust and torque of the body coordinate system is not a square matrix. However, the method based on the Pseudo-Inverse matrix cannot detect the actuator faults correctly because the Pseudo-Inverse matrix is approximate. In the proposed method, the actuator faults are estimated by modifying the transform matrix using the property that the actuators of the hexacopter are symmetrical. The simulation results show the effectiveness of the proposed method when faults occur in one or more of the six actuators.


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