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.


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    Titel :

    Emergency landing for a quadrotor in case of a propeller failure: A PID based approach


    Beteiligte:
    Lippiello, Vincenzo (Autor:in) / Ruggiero, Fabio (Autor:in) / Serra, Diana (Autor:in)


    Erscheinungsdatum :

    2014-10-01


    Format / Umfang :

    419921 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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