Evento

Fault tolerance analysis of a multirotor with 6DOF

Giribet, Juan IgnacioIcon ; Pose, Claudio Daniel; Mas, Ignacio AgustinIcon
Tipo del evento: Conferencia
Nombre del evento: 4th Conference on Control and Fault Tolerant Systems
Fecha del evento: 18/09/2019
Institución Organizadora: École Marocaine des Sciences de l'ingénieur;
Título de la revista: 4th Conference on Control and Fault Tolerant Systems
Editorial: IEEE Computer Society
Idioma: Inglés
Clasificación temática:

Resumen

Several works have addressed the issue of obtaining a six degree of freedom (6DOF) capable multirotor. However, the capability of keeping full control in the case of a total failure in one of the rotors has not yet been analyzed. In this work, it is proven that eight is the minimum number of rotors necessary to achive 6DOF control of a multirotor, in the case of a total failure in one of them. Also, an octorotor configuration with 6DOF control capabilities in a failure situation is proposed and analyzed through numerical simulations, comparing its flight performance in a nominal and a failure case.
Palabras clave: ROTORS , TORQUE , FORCE , FAULT TOLERANT SYSTEMS , FAULT TOLERANCE , SENSORS , VEHICLE DYNAMICS
 
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info:eu-repo/semantics/restrictedAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)
Identificadores
URI: http://hdl.handle.net/11336/174526
URL: https://ieeexplore.ieee.org/document/8864792
DOI: http://dx.doi.org/10.1109/SYSTOL.2019.8864792
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Eventos(IAM)
Eventos de INST.ARG.DE MATEMATICAS "ALBERTO CALDERON"
Citación
Fault tolerance analysis of a multirotor with 6DOF; 4th Conference on Control and Fault Tolerant Systems; Marruecos; 2019; 32-37
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