Pose, Claudio Daniel (Universidad de Buenos Aires), Giribet, Juan Ignacio (Universidad de San Andrés)

Multirotor Fault Tolerance Based on Center-Of-Mass Shifting in Case of Rotor Failure

Scheduled for presentation during the Regular Session "Fault-Tolerant Control" (WeA1), Wednesday, June 16, 2021, 11:50−12:10, Macedonia Hall

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

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