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@unpublished{Tzoumanikas:2020,
author = {Tzoumanikas, D and Yan, Q and Leutenegger, S},
publisher = {arXiv},
title = {Nonlinear MPC with motor failure identification and recovery for safe  and aggressive multicopter flight},
url = {http://arxiv.org/abs/2002.06598v1},
year = {2020}
}

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TY  - UNPB
AB  - Safe and precise reference tracking is a crucial characteristic of MAVs thathave to operate under the influence of external disturbances in clutteredenvironments. In this paper, we present a NMPC that exploits the fully physicsbased non-linear dynamics of the system. We furthermore show how the moment andthrust control inputs can be transformed into feasible actuator commands. Inorder to guarantee safe operation despite potential loss of a motor under whichwe show our system keeps operating safely, we developed an EKF based motorfailure identification algorithm. We verify the effectiveness of the developedpipeline in flight experiments with and without motor failures.
AU  - Tzoumanikas,D
AU  - Yan,Q
AU  - Leutenegger,S
PB  - arXiv
PY  - 2020///
TI  - Nonlinear MPC with motor failure identification and recovery for safe  and aggressive multicopter flight
UR  - http://arxiv.org/abs/2002.06598v1
UR  - http://hdl.handle.net/10044/1/79815
ER  -

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