Fail-Safe Flight of a Fully-Actuated Quadrotor in a Single Motor Failure
Seung Jae Lee, Inkyu Jang, H. Jin Kim
Abstract
In this letter, we introduce a new quadrotor fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a standard multirotor even when a single thruster fails. The new solution employs a novel multirotor platform known as the T <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -Multirotor and utilizes a distinctive strategy of actively controlling the center of gravity position to restore the controllable degrees of freedom. 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 solution.
BibTeX
@inproceedings{ral2020_failsafeflightof,
title = {Fail-Safe Flight of a Fully-Actuated Quadrotor in a Single Motor Failure},
author = {Seung Jae Lee and Inkyu Jang and H. Jin Kim},
booktitle = {RA-L 2020},
year = {2020}
}