title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÐ²Ð°Ð´ÑÐ°ÐºÐ¾Ð¿ÑÐµÑÐ¾Ð¼ Ð¿ÑÐ¸ Ð¾ÑÐºÐ°Ð·Ðµ Ð²Ð¸Ð½ÑÐ¾Ð¼Ð¾ÑÐ¾ÑÐ½Ð¾Ð¹ Ð³ÑÑÐ¿Ð¿Ñ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of fault-tolerant control methods for quadcopter under propulsion system failure
Creators: name: Ð¢Ð°Ð³Ð°Ð½Ð¾Ð², Ð ÑÑÐ»Ð°Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2025
Subjects: ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑ
Ð¾ÑÐºÐ°Ð·Ð¾ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
Ð²Ð¸Ð½ÑÐ¾Ð¼Ð¾ÑÐ¾ÑÐ½Ð°Ñ Ð³ÑÑÐ¿Ð¿Ð°
ros
gazebo
Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð°Ñ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ñ
ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð°Ñ ÐºÐ°Ð¼ÐµÑÐ°
ÐºÐ¾Ð¼Ð¿Ð»ÐµÐ¼ÐµÐ½ÑÐ°ÑÐ½ÑÐ¹ ÑÐ¸Ð»ÑÑÑ
indi-ÑÐµÐ³ÑÐ»ÑÑÐ¾Ñ
Ð°ÑÑÐ¾Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ðµ ÑÑÑÐµÐºÑÑ
quadcopter
fault-tolerant control
propulsion system
visual odometry
event camera
complementary filter
indi controller
aerodynamic effects

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: "ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ¾Ð¼ Ð¿ÑÐ¸ Ð¾ÑÐºÐ°Ð·Ðµ Ð²Ð¸Ð½ÑÐ¾Ð¼Ð¾ÑÐ¾ÑÐ½Ð¾Ð¹ Ð³ÑÑÐ¿Ð¿Ñ". Ð Ð°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÑÑÐ¸Ñ ÑÐ¾ÑÑÐ°Ð½ÐµÐ½Ð¸Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÑÐµÐ¼Ð¾ÑÑÐ¸ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ° Ð¿ÑÐ¸ Ð¾ÑÐºÐ°Ð·Ðµ Ð¾Ð´Ð½Ð¾Ð³Ð¾ Ð¸Ð· Ð´Ð²Ð¸Ð³Ð°ÑÐµÐ»ÐµÐ¹. ÐÑÐ½Ð¾Ð²Ð½ÑÐµ Ð·Ð°Ð´Ð°ÑÐ¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ: 1. ÐÐ½Ð°Ð»Ð¸Ð· ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¾ÑÐºÐ°Ð·Ð¾ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ°Ð¼Ð¸. 2. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ° Ñ ÑÑÐµÑÐ¾Ð¼ Ð¾ÑÐºÐ°Ð·Ð¾Ð² Ð´Ð²Ð¸Ð³Ð°ÑÐµÐ»ÐµÐ¹. 3. Ð ÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð² ÑÑÐµÐ´Ðµ ROS/Gazebo. 4. Ð­ÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ°Ð»ÑÐ½Ð¾Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½ÑÑ Ð¼ÐµÑÐ¾Ð´Ð¾Ð². Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÑÐ°Ð±Ð¾ÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð¼ÐµÑÐ¾Ð´ Ð¾ÑÐºÐ°Ð·Ð¾ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð½Ð° Ð±Ð°Ð·Ðµ Ð¸Ð½ÐºÑÐµÐ¼ÐµÐ½ÑÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½Ð¾Ð³Ð¾ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¾Ð±ÑÐ°ÑÐµÐ½Ð¸Ñ (INDI), Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÑÑÐ¸Ð¹ Ð²ÑÐµÐ¼Ñ Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¾ÑÐºÐ°Ð·Ð° 120 Ð¼Ñ Ð¸ Ð²ÑÐµÐ¼Ñ Ð¿ÐµÑÐµÑÑÑÐ¾Ð¹ÐºÐ¸ ÑÐ¸ÑÑÐµÐ¼Ñ 280 Ð¼Ñ. Ð¡Ð¾Ð·Ð´Ð°Ð½Ð° ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ½Ð°Ñ Ð°ÑÑÐ¸ÑÐµÐºÑÑÑÐ° Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð³Ð¾ Ð¾Ð±ÐµÑÐ¿ÐµÑÐµÐ½Ð¸Ñ Ð² ÑÑÐµÐ´Ðµ ROS/Gazebo, Ð²ÐºÐ»ÑÑÐ°ÑÑÐ°Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾ÑÐµÐ½ÐºÐ¸ ÑÐ¾ÑÑÐ¾ÑÐ½Ð¸Ñ Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾-Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð¾Ð¹ Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ð¸. Ð­ÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ°Ð»ÑÐ½Ð¾ Ð¿Ð¾Ð´ÑÐ²ÐµÑÐ¶Ð´ÐµÐ½Ð° ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ Ð¿Ð¾Ð´ÑÐ¾Ð´Ð° - Ð²ÐµÑÐ¾ÑÑÐ½Ð¾ÑÑÑ ÑÑÐ¿ÐµÑÐ½Ð¾Ð¹ Ð¾ÑÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð¾ÑÐºÐ°Ð·Ð¾Ð² Ð´Ð²Ð¸Ð³Ð°ÑÐµÐ»ÐµÐ¹ ÑÐ¾ÑÑÐ°Ð²Ð¸Ð»Ð° 94%, ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¾ÑÑÐ°Ð½ÑÐµÑ ÑÐ°Ð±Ð¾ÑÐ¾ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾ÑÑÑ Ð¿ÑÐ¸ Ð¾ÑÐ²ÐµÑÐµÐ½Ð½Ð¾ÑÑÐ¸ Ð´Ð¾ 10 Ð»ÑÐºÑ Ð¸ Ð²ÐµÑÑÐ¾Ð²ÑÑ Ð²Ð¾Ð·Ð¼ÑÑÐµÐ½Ð¸ÑÑ Ð´Ð¾ 5 Ð¼/Ñ.
description: The subject of the graduate qualification work is "Development of fault-tolerant control methods for quadcopter under propulsion system failure". The work is devoted to research and development of control algorithms that ensure quadcopter controllability in case of single motor failure. The main research objectives: 1. Analysis of existing fault-tolerant control methods for quadcopters. 2. Development of quadcopter mathematical model considering motor failures. 3. Implementation of control system in ROS/Gazebo environment. 4. Experimental investigation of developed methods. The research resulted in development of fault-tolerant control method based on incremental nonlinear dynamic inversion (INDI), providing failure detection time of 120 ms and system reconfiguration time of 280 ms. A comprehensive software architecture was created in ROS/Gazebo environment, including state estimation system and visual-inertial odometry algorithms. The effectiveness of the developed approach was experimentally confirmed - the probability of successful motor failure handling was 94%, the system maintains operability at illumination down to 10 lux and wind disturbances up to 5 m/s.