Autonomous Flight of Hexacopter Under Propulsion System Failure | Zendy

Yang Yi | Zendy; Daisuke Iwakura | Zendy; Akio Namiki | Zendy; Kenzo AMI | Zendy; Wei Wang | Zendy

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Autonomous Flight of Hexacopter Under Propulsion System Failure

Author(s) -

Yang Yi,

Daisuke Iwakura,

Akio Namiki,

Kenzo AMI,

Wei Wang

Publication year - 2016

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2016.p0899

Subject(s) - propulsion , controllability , control theory (sociology) , computer science , control engineering , fault (geology) , fault tolerance , isolation (microbiology) , engineering , control (management) , artificial intelligence , aerospace engineering , distributed computing , microbiology and biotechnology , biology , mathematics , seismology , geology

[abstFig src='/00280006/14.jpg' width='250' text='Fault tolerant control structure of hexacopter' ] This paper presents a fault-tolerant approach for the propulsion systems of hexacopters (i.e., rotors and propellers) to overcome failures during outdoor autonomous flight missions. In this study, we used an explicit control allocation method for each stopped motor, and an asymmetrical motor rotation arrangement is applied in order to guarantee the controllability of the yaw. Finally, the developed fault diagnosis and isolation system is tested during a global-positioning-system-based autonomous flight of a hexacopter with a failed motor.

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