Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles

"Several works have addressed the issue of fault tolerance in multirotors in case of a rotor total failure, particularly their ability to keep full independent control of attitude and altitude. It has been proven that to achieve this, a minimum of six rotors is needed. In this work, the perform...

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Autores principales:	Pose, Claudio D., Giribet, Juan I., Mas, Ignacio
Formato:	Artículos de Publicaciones Periódicas
Lenguaje:	Inglés
Publicado:	2020
Materias:	TOLERANCIA MICRO VEHICULOS AEREOS ANALISIS DE FALLAS
Acceso en línea:	http://ri.itba.edu.ar/handle/123456789/3249
Aporte de:	Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)

id	I32-R138-123456789-3249
record_format	dspace
spelling	I32-R138-123456789-32492022-12-07T13:05:56Z Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles Pose, Claudio D. Giribet, Juan I. Mas, Ignacio TOLERANCIA MICRO VEHICULOS AEREOS ANALISIS DE FALLAS "Several works have addressed the issue of fault tolerance in multirotors in case of a rotor total failure, particularly their ability to keep full independent control of attitude and altitude. It has been proven that to achieve this, a minimum of six rotors is needed. In this work, the performance of several standard and nonstandard hexarotor structures is analyzed, both for a nominal case (without failure) and in the case where one of the actuators is under failure (incapability to exert thrust). The performance is shown in terms of maximum rotational torque and vertical force that the vehicle can exert. The main contribution of this work is the proposal and analysis of converting these vehicles into reconfigurable ones through the addition of a minimum number of servomotors, to deal with failures and to greatly improve the maneuverability under these conditions, in order to identify the reconfigurable structure with the best performance. An experimental demonstration in an outdoor environment is shown for the proposed reconfigurable structure with best performance in case of a full rotor failure." 2020-12-11T18:25:29Z 2020-12-11T18:25:29Z 2020-08 Artículos de Publicaciones Periódicas 1083-4435 http://ri.itba.edu.ar/handle/123456789/3249 en info:eu-repo/semantics/altIdentifier/doi/10.1109/TMECH.2020.2993222 info:eu-repo/grantAgreement/UBA/UBACyT/PDE/18-2019/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Ciudad Autónoma de Buenos Aires 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 MICRO VEHICULOS AEREOS ANALISIS DE FALLAS
spellingShingle	TOLERANCIA MICRO VEHICULOS AEREOS ANALISIS DE FALLAS Pose, Claudio D. Giribet, Juan I. Mas, Ignacio Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles
topic_facet	TOLERANCIA MICRO VEHICULOS AEREOS ANALISIS DE FALLAS
description	"Several works have addressed the issue of fault tolerance in multirotors in case of a rotor total failure, particularly their ability to keep full independent control of attitude and altitude. It has been proven that to achieve this, a minimum of six rotors is needed. In this work, the performance of several standard and nonstandard hexarotor structures is analyzed, both for a nominal case (without failure) and in the case where one of the actuators is under failure (incapability to exert thrust). The performance is shown in terms of maximum rotational torque and vertical force that the vehicle can exert. The main contribution of this work is the proposal and analysis of converting these vehicles into reconfigurable ones through the addition of a minimum number of servomotors, to deal with failures and to greatly improve the maneuverability under these conditions, in order to identify the reconfigurable structure with the best performance. An experimental demonstration in an outdoor environment is shown for the proposed reconfigurable structure with best performance in case of a full rotor failure."
format	Artículos de Publicaciones Periódicas
author	Pose, Claudio D. Giribet, Juan I. Mas, Ignacio
author_facet	Pose, Claudio D. Giribet, Juan I. Mas, Ignacio
author_sort	Pose, Claudio D.
title	Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles
title_short	Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles
title_full	Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles
title_fullStr	Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles
title_full_unstemmed	Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles
title_sort	fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles
publishDate	2020
url	http://ri.itba.edu.ar/handle/123456789/3249
work_keys_str_mv	AT poseclaudiod faulttoleranceanalysisforaclassofreconfigurableaerialhexarotorvehicles AT giribetjuani faulttoleranceanalysisforaclassofreconfigurableaerialhexarotorvehicles AT masignacio faulttoleranceanalysisforaclassofreconfigurableaerialhexarotorvehicles
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Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles

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