Failure detection and fault tolerant control are fundamental safety features of any aerial vehicle. With the emergence of complex, multi-body flying systems such as jet-powered humanoid robots, it becomes of crucial importance to design fault detection and control strategies for these systems, too. In this paper we propose a fault detection and control framework for the flying humanoid robot iRonCub in case of loss of one turbine. The framework is composed of a failure detector based on turbines rotational speed, a momentum-based flight control for fault response, and an offline reference generator that produces far-from-singularities configurations and accounts for self and jet exhausts collision avoidance. Simulation results with Gazebo and MATLAB prove the effectiveness of the proposed control strategy.

翻译：故障检测与容错控制是任何飞行器的基本安全特性。随着喷气动力人体机器人等复杂多体飞行系统的出现，为这些系统设计故障检测与控制策略也变得至关重要。本文针对飞行人体机器人iRonCub在单个涡轮失效的情况下，提出了一种故障检测与控制框架。该框架由基于涡轮转速的故障检测器、基于动量的故障响应飞行控制，以及离线参考轨迹生成器组成，后者可生成远离奇异点的构型，并考虑自身与喷气排气的避碰问题。基于Gazebo与MATLAB的仿真结果验证了所提控制策略的有效性。