Publication Details

Janelle Blankenburg, David Feil-Seifer, and Richard Kelley. "Failsafe Algorithms for Stabilization and Control of UAS." Poster Paper in Nevada NASA EPSCOR and Space Grant Consortium Annual Meeting, Apr 2014. ( pdf )


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  • SARG

Abstract

Rapid increase in the use of Unmanned Autonomous Systems (UAS) has caused the safety of these platforms to become a high priority. One main safety issue with UAS platforms is motor failure. In order to increase the safety of these platforms in the event of such a failure, a failsafe mechanism can be used to stabilize and control the UAS platform.

Without a failsafe mechanism, the loss of a motor will cause the platform to fall out of the sky. This can cause serious injury to the people and property in the vicinity of the UAS. Using a failsafe mechanism would prevent these types of falls from occurring thereby increasing the safety of UAS during flight and minimizing damage to the surroundings.

With the loss of a motor, the dynamics of a UAS platform will change. By taking advantage of these new dynamics, a failsafe algorithm can use the reduced attitude to return partial control to the platform. This partial control can be used to stabilize the platform and maneuver it a short distance in order to bring it safely to the ground. We have developed failsafe algorithms to deal with motor failure on two different types of UAS: asymmetrical quadrocopters and hexacopters.
The algorithm for a quadrocopter is adapted from a feedback linearization approach. One of the hexacopter algorithms is also adapted from this approach. The other hexacopter algorithm is adapted from a redistributed pseudo inverse method. The quadrocopter algorithm maintains control for a long enough period of time that a safe landing is possible. The first hexacopter algorithm maintains control by shutting off the opposing motor, thus allowing the platform to fly as a quadrocopter and land safely. The second hexacopter algorithm maintains control with five motors, but it’s much less stable than the feedback linearization based algorithm.

Author Details

Name: Janelle Blankenburg
email: jjblankenburg@nevada.unr.edu
Website: jblankenburg.github.io
Status: Active

Name: David Feil-Seifer
email: dave@cse.unr.edu
Website: http://cse.unr.edu/~dave
Phone: (775) 784-6469
Status: Active

Name: Richard Kelley
email: rkelley@cse.unr.edu
Status: Inactive

BibTex Reference

@conference{blankenburg2014failsafe,
  title={Failsafe Algorithms for Stabilization and Control of UAS},
  author={Janelle Blankenburg and David Feil-Seifer and Richard Kelley},
  year={2014},
  month={April},
  booktitle={Nevada NASA EPSCOR and Space Grant Consortium Annual Meeting},
}

HTML Reference

<span class="authors">Janelle Blankenburg, David Feil-Seifer, and Richard Kelley</span>. <span class="title">"Failsafe Algorithms for Stabilization and Control of UAS." </span> Poster Paper in <span class="booktitle">Nevada NASA EPSCOR and Space Grant Consortium Annual Meeting</span>, <span class="month">Apr</span> <span class="year">2014</span>. <span class="ending"></span>

Support

Asymmetrical Quad/Hex-Rotor Failsafe Algorithm, Flirtey, Inc. PI: David Feil-Seifer, co-PI: Richard Kelley, Amount: $15,000, Sept. 1, 2014 - March 31, 2015

Failsafe Algorithms for Stabilization and Control of UAS Platforms, Nevada Space Grant PI: Janelle Blankenburg, Amount: $2,500, Aug. 25, 2014 - Dec. 17, 2014