The paper presents an algorithm for control and safe landing of impaired multi-rotor drones when one or more motors fail simultaneously or in any sequence. It includes three main components: an identification block, a reconfigurable control block, and a decisions making block. The identification block monitors each motor load characteristics and the current drawn, based on which the failures are detected. The control block generates the required total thrust and three axis torques for the altitude, horizontal position and/or orientation control of the drone based on the time scale separation and nonlinear dynamic inversion. The horizontal displacement is controlled by modulating the roll and pitch angles. The decision making algorithm maps the total thrust and three torques into the individual motor thrusts based on the information provided by the identification block. The drone continues the mission execution as long as the number of functioning motors provide controllability of it. Otherwise, the controller is switched to the safe mode, which gives up the yaw control, commands a safe landing spot and descent rate while maintaining the horizontal attitude.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Identification and Reconfigurable Control of Impaired Multi-Rotor Drones


    Contributors:
    V. Stepanyan (author) / K. Krishnakumar (author) / A. Bencomo (author)

    Publication date :

    2016


    Size :

    19 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    Identification and Reconfigurable Control of Impaired Multi-Rotor Drones

    Stepanyan, Vahram / Krishnakumar, Kalmanje / Bencomo, Alfredo | NTRS | 2016


    Identification and reconfigurable Control of Impaired Multi-Rotor Drones

    Stepanyan, Vahram / Krishnakumar, Kalmanje S. / Bencomo, Alfredo | AIAA | 2016


    Identification and Reconfigurable Control of Impaired Multi-Rotor Drones (AIAA 2016-1384)

    Stepanyan, Vahram / Krishnakumar, Kalmanje S. / Bencomo, Alfredo | British Library Conference Proceedings | 2016


    Multi-rotor tonal noise control for drones

    PANTALONE GIULIA / WOODWORTH ADAM / TAYLOR EDWARD et al. | European Patent Office | 2023

    Free access

    Automatic safety parachute deployment system for multi rotor drones

    BACHMANN HELMUTH G | European Patent Office | 2022

    Free access