Fault tolerance analysis of a multirotor with 6DOF

"Several works have addressed the issue of obtaining a six degree of freedom (6DOF) capable multirotor. However, the capability of keeping full control in the case of a total failure in one of the rotors has not yet been analyzed. In this work, it is proven that eight is the minimum number of r...

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Autores principales: Giribet, Juan I., Pose, Claudio D., Mas, Ignacio
Formato: Ponencias en Congresos acceptedVersion
Lenguaje:Inglés
Publicado: 2020
Materias:
TOLERANCIA A FALLOS
MICRO VEHICULOS AEREOS
SISTEMAS DE CONTROL
ROTORES
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/1909
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-1909
record_format dspace
spelling I32-R138-123456789-19092022-12-07T14:13:45Z Fault tolerance analysis of a multirotor with 6DOF Giribet, Juan I. Pose, Claudio D. Mas, Ignacio TOLERANCIA A FALLOS MICRO VEHICULOS AEREOS SISTEMAS DE CONTROL ROTORES "Several works have addressed the issue of obtaining a six degree of freedom (6DOF) capable multirotor. However, the capability of keeping full control in the case of a total failure in one of the rotors has not yet been analyzed. In this work, it is proven that eight is the minimum number of rotors necessary to achive 6DOF control of a multirotor, in the case of a total failure in one of them. Also, an octorotor configuration with 6DOF control capabilities in a failure situation is proposed and analyzed through numerical simulations, comparing its flight performance in a nominal and a failure case. " 2020-03-18T16:21:52Z 2020-03-18T16:21:52Z 2019-09 Ponencias en Congresos info:eu-repo/semantics/acceptedVersion 978-1728-10-380-8 2162-1195 http://ri.itba.edu.ar/handle/123456789/1909 en info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/UBA/UBACyT/PDE/18-2019/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/semantics/altIdentifier/doi/10.1109/SYSTOL.2019.8864792 application/pdf
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic TOLERANCIA A FALLOS
MICRO VEHICULOS AEREOS
SISTEMAS DE CONTROL
ROTORES
spellingShingle TOLERANCIA A FALLOS
MICRO VEHICULOS AEREOS
SISTEMAS DE CONTROL
ROTORES
Giribet, Juan I.
Pose, Claudio D.
Mas, Ignacio
Fault tolerance analysis of a multirotor with 6DOF
topic_facet TOLERANCIA A FALLOS
MICRO VEHICULOS AEREOS
SISTEMAS DE CONTROL
ROTORES
description "Several works have addressed the issue of obtaining a six degree of freedom (6DOF) capable multirotor. However, the capability of keeping full control in the case of a total failure in one of the rotors has not yet been analyzed. In this work, it is proven that eight is the minimum number of rotors necessary to achive 6DOF control of a multirotor, in the case of a total failure in one of them. Also, an octorotor configuration with 6DOF control capabilities in a failure situation is proposed and analyzed through numerical simulations, comparing its flight performance in a nominal and a failure case. "
format Ponencias en Congresos
acceptedVersion
author Giribet, Juan I.
Pose, Claudio D.
Mas, Ignacio
author_facet Giribet, Juan I.
Pose, Claudio D.
Mas, Ignacio
author_sort Giribet, Juan I.
title Fault tolerance analysis of a multirotor with 6DOF
title_short Fault tolerance analysis of a multirotor with 6DOF
title_full Fault tolerance analysis of a multirotor with 6DOF
title_fullStr Fault tolerance analysis of a multirotor with 6DOF
title_full_unstemmed Fault tolerance analysis of a multirotor with 6DOF
title_sort fault tolerance analysis of a multirotor with 6dof
publishDate 2020
url http://ri.itba.edu.ar/handle/123456789/1909
work_keys_str_mv AT giribetjuani faulttoleranceanalysisofamultirotorwith6dof
AT poseclaudiod faulttoleranceanalysisofamultirotorwith6dof
AT masignacio faulttoleranceanalysisofamultirotorwith6dof
_version_ 1765661038528692224

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