Fail-safe Flight of a Fully-Actuated Quadcopter in a Single Motor Failure
Abstract
In this paper, we introduce a new quadcopter fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a regular multirotor even when a single thruster fails. The new solution employs a novel multirotor platform known as the T3-Multirotor and utilizes a distinctive strategy of actively controlling the center of gravity position to restore the nominal flight performance. A dedicated control structure is introduced, along with a detailed analysis of the dynamic characteristics of the platform that change during emergency flights. Experimental results are provided to validate the feasibility of the proposed fail-safe flight strategy.
- Publication:
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arXiv e-prints
- Pub Date:
- February 2020
- DOI:
- 10.48550/arXiv.2002.11326
- arXiv:
- arXiv:2002.11326
- Bibcode:
- 2020arXiv200211326L
- Keywords:
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- Computer Science - Robotics
- E-Print:
- 8 pages, 8 figures