Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers
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Date
2014Type
- Conference Paper
ETH Bibliography
yes
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Abstract
This paper presents periodic solutions for a quadrocopter maintaining a height around a position in space despite having lost a single, two opposing, or three propellers. In each case the control strategy consists of the quadrocopter spinning about a primary axis, fixed with respect to the vehicle, and tilting this axis for translational control. A linear, timeinvariant description of deviations from the attitude equilibrium is derived, allowing for a convenient cascaded control design. The results for the cases of losing one and two propellers are validated in experiment, while the case of losing three propellers is validated in a nonlinear simulation. These results have application in multicopter fault-tolerant control design, and also point to possible design directions for novel flying vehicles. Show more
Publication status
publishedExternal links
Book title
2014 IEEE International Conference on Robotics and Automation (ICRA)Pages / Article No.
Publisher
IEEEEvent
Organisational unit
03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
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ETH Bibliography
yes
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