Actuator Fault Detection in a Hexacopter Using Machine Learning

@article{Pose2018ActuatorFD,
  title={Actuator Fault Detection in a Hexacopter Using Machine Learning},
  author={Claudio D. Pose and Alessandro Giusti and Juan I. Giribet},
  journal={2018 Argentine Conference on Automatic Control (AADECA)},
  year={2018},
  pages={1-6}
}
  • Claudio D. Pose, Alessandro Giusti, Juan I. Giribet
  • Published in
    Argentine Conference on…
    2018
  • Computer Science
  • We present an approach based on machine learning for detecting total motor failure in a tilted-rotor hexacopter. We generate large flight datasets using a Simulink model based on a 6-DoF block and position and attitude PID controllers; these datasets are used to train and validate a random forest classifier that is able to detect if a motor has failed, and identify which one. The algorithm uses as inputs the attitude of the vehicle and the signals commanded to the motors, and outputs a flag per… CONTINUE READING

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