Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors

"Tilted rotors in multirotor vehicles have shown to be useful for different practical reasons. For instance, increasing yaw maneuverability or enabling full position and attitude control of hexarotor vehicles. It has also been proven that a hexagon-shaped multirotor is capable of complete attit...

Descripción completa

Detalles Bibliográficos
Autores principales: Pose, Claudio D., Giribet, Juan I., Mas, Ignacio
Formato: Ponencias en Congresos info:eu-repo/semantics/AcceptedVersion
Lenguaje:Inglés
Publicado: 2021
Materias:
TOLERANCIA A FALLOS
MICRO VEHICULOS AEREOS
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/3446
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-3446
record_format dspace
spelling I32-R138-123456789-34462022-12-07T14:14:03Z Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors Pose, Claudio D. Giribet, Juan I. Mas, Ignacio TOLERANCIA A FALLOS MICRO VEHICULOS AEREOS "Tilted rotors in multirotor vehicles have shown to be useful for different practical reasons. For instance, increasing yaw maneuverability or enabling full position and attitude control of hexarotor vehicles. It has also been proven that a hexagon-shaped multirotor is capable of complete attitude and altitude control under failures of one of its rotors. However, when a rotor fails, the torque that can be reached in the worstcase direction decreases considerably. This work proposes to actively change the tilt angle of the rotors when a failure occurs. This rotor reconfiguration increases the maximum torque that can be achieved in the most stressful direction, reducing maneuverability limitations. Experimental validations are shown, where the proposed reconfigurable tilted rotor is used in order to control a hexarotor vehicle when a failure appears mid-flight. The impact of the delay in the reconfiguration when a failure occurs is also addressed." 2021-04-16T14:14:02Z 2021-04-16T14:14:02Z 2020 Ponencias en Congresos info:eu-repo/semantics/AcceptedVersion http://ri.itba.edu.ar/handle/123456789/3446 en 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 A FALLOS
MICRO VEHICULOS AEREOS
spellingShingle TOLERANCIA A FALLOS
MICRO VEHICULOS AEREOS
Pose, Claudio D.
Giribet, Juan I.
Mas, Ignacio
Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors
topic_facet TOLERANCIA A FALLOS
MICRO VEHICULOS AEREOS
description "Tilted rotors in multirotor vehicles have shown to be useful for different practical reasons. For instance, increasing yaw maneuverability or enabling full position and attitude control of hexarotor vehicles. It has also been proven that a hexagon-shaped multirotor is capable of complete attitude and altitude control under failures of one of its rotors. However, when a rotor fails, the torque that can be reached in the worstcase direction decreases considerably. This work proposes to actively change the tilt angle of the rotors when a failure occurs. This rotor reconfiguration increases the maximum torque that can be achieved in the most stressful direction, reducing maneuverability limitations. Experimental validations are shown, where the proposed reconfigurable tilted rotor is used in order to control a hexarotor vehicle when a failure appears mid-flight. The impact of the delay in the reconfiguration when a failure occurs is also addressed."
format Ponencias en Congresos
info:eu-repo/semantics/AcceptedVersion
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 of a hexarotor with reconfigurable tilted rotors
title_short Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors
title_full Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors
title_fullStr Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors
title_full_unstemmed Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors
title_sort fault tolerance analysis of a hexarotor with reconfigurable tilted rotors
publishDate 2021
url http://ri.itba.edu.ar/handle/123456789/3446
work_keys_str_mv AT poseclaudiod faulttoleranceanalysisofahexarotorwithreconfigurabletiltedrotors
AT giribetjuani faulttoleranceanalysisofahexarotorwithreconfigurabletiltedrotors
AT masignacio faulttoleranceanalysisofahexarotorwithreconfigurabletiltedrotors
_version_ 1765660724102692864

Ejemplares similares