A controller dealing with the failure of a quadrotor's motor is presented in this paper. Supposing that the failure has been already detected by the system, the quadrotor is modelled as a birotor with fixed propellers and it is controlled to follow a planned emergency landing trajectory. Theory shows that, in such a configuration, the aerial vehicle is allowed to reach any position in the Cartesian space dropping the possibility to control the yaw angle. Simulations are presented to confirm the presented methodology.
Emergency landing for a quadrotor in case of a propeller failure: A PID based approach
2014-10-01
419921 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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