Multirotor fault tolerance based on center-of-mass shifting in case of rotor failure

Abstract

This work carries out an analysis on fault tol-erance in multirotor vehicles, particularly for an hexarotorone, where such feature is achieved by shifting the center ofmass in case of a motor failure. It will be shown that, foran hexarotor vehicle, for each of the possible motor failures,there exists an optimal fixed position for the center of mass, inorder to keep independent control of four degrees of freedom,and to obtain the best maneuverability. The performance ofthis solution will be compared with a previous design based onmotor reconfiguration in case of a motor failure.