Fault-Tolerant Control for Multi-Quadcopter with Suspended Payload under Wind Disturbance

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Published: Jul 30, 2024
DOI: https://doi.org/10.12962/jaree.v8i2.406

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ALIF AL FARRAS
Institute Teknologi Sepuluh Nopember
ARI SANTOSO
Institute Teknologi Sepuluh Nopember
YURID EKA NUGRAHA
Institute Teknologi Sepuluh Nopember

Abstract

Delivering payload with multiple quadcopters necessitates a reliable backup system. This research introduces a fault-tolerant design specifically for multi-drone payload transportation. The system employs formation control, ensuring the weight is evenly distributed among all functioning drones. This research tackles the challenge of reliable payload delivery with multi-drone systems. It proposes a new fault-tolerant control system specifically designed for this purpose. The system addresses a limitation in existing solutions by incorporating a simple PD controller alongside a fault-tolerant strategy. This approach allows the system to maintain operation even if a drone malfunctions. The paper further demonstrates the system's effectiveness through simulations. Results show the system's ability to maintain stability with minimal altitude loss (only 6.3cm) and rapid position reconfiguration (within 3.96 seconds) even under windy conditions. These findings highlight the potential of this fault-tolerant design to significantly improve multi-drone payload delivery, especially for missions requiring high levels of stability and redundancy.

Article Details

Issue
Vol. 8 No. 2 (2024): July
Section
Articles

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Author Biographies

ALIF AL FARRAS, Institute Teknologi Sepuluh Nopember

Department of Electrical Engineering Institute Teknologi Sepuluh Nopember

ARI SANTOSO, Institute Teknologi Sepuluh Nopember

Department of Electrical Engineering Institute Teknologi Sepuluh Nopember

YURID EKA NUGRAHA, Institute Teknologi Sepuluh Nopember

Department of Electrical Engineering Institute Teknologi Sepuluh Nopember

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