EuroGNC 2019 Paper Abstract

Paper ThA1.2

Maccotta, Marco (Politecnico di Milano), Lovera, Marco (Politecnico di Milano)

Reconfigurability Analysis of Multirotor UAV

Scheduled for presentation during the Regular Session "Multirotor UAVs" (ThA1), Thursday, April 4, 2019, 14:30−15:00, Carassa-Dadda

5th CEAS Conference on Guidance, Navigation and Control, April 3-5, 2019, Milano, Italy

This information is tentative and subject to change. Compiled on April 20, 2024

Keywords Fault detection, isolation, and reconfiguration, MAV flight dynamics and control

Abstract

Many approches exist to study the capability of fault tolerance against rotor or motor in UAVs. In this work the results of a structural reconfigurability analysis will be applied to investigate the static controllability of the system in fault configuration. Then a pseudo-inverse control allocator will be developed and tested on the multicopter simulator, with specific reference to multirotor configurations relevant to an application in industrial plant inspection.