Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances
Sihao Sun, Matthias Baert, Bram Strack van Schijndel, Coen de Visser
Abstract
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a position/altitude controller, an almost-global convergence attitude controller, and a control allocation method based on quadratic programming. As a major novelty, a constraint of undesirable angular velocity is derived and fused into the control allocator, which significantly improves the recovery performance. For validation, we have conducted a set of Monte-Carlo simulation to test the reliability of the proposed method of recovering the quadrotor from arbitrary initial attitude/rate conditions. In addition, real-life flight tests have been performed. The results demonstrate that the post-failure quadrotor can recover after being casually tossed into the air.
BibTeX
@inproceedings{icra2020_upsetrecoverycon,
title = {Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances},
author = {Sihao Sun and Matthias Baert and Bram Strack van Schijndel and Coen de Visser},
booktitle = {ICRA 2020},
year = {2020}
}