Controllability Analysis for Multirotor Helicopter Rotor Degradation and Failure

Du, Guang-Xun; Quan, Quan; Yang, Baofeng; Cai, Kai-Yuan

doi:10.2514/1.g000731

Cited by 55 publications

(22 citation statements)

References 18 publications

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“…where the matrix K = [K Q K ] = [k i j ] 3 × 6 is selected satisfying that A K = A − BK is Hurwitz. Then, from (12), (14), and (15), one can obtain the following error model:…”

Section: Robust Controller Designmentioning

confidence: 99%

“…Theorem 1. If the tail-sitter UAV consisting of (11) and (12) is controlled by the controller, as shown in (14), (15), and (20) for any given initial bounded conditions and a given positive constant , there exist positive constants * i (i = 1, 2, 3)…”

Section: Robustness Property Analysismentioning

confidence: 99%

“…[1][2][3][4][5][6][7][8][9][10] The fixed-wing UAVs possess desired properties including high cruise efficiency, long flight time, and high flight speed, but it is difficult for these vehicles to implement hovering missions or low speed maneuvers 11 ; however, the rotorcrafts have attributes of takeoff and landing vertically as well as hovering, but they have limitations on the flight speed and cruise efficiency. [12][13][14][15] As depicted in the works of Stone 16 and Saeed et al, 17 a newly developed configuration for UAVs is the tail-sitter aerial vehicle. They possess great flexibility and can vertically take off and land as rotary-wing aircraft while cruise with high flight speed and endurance as fixed-wing aircraft.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust attitude control for tail‐sitter unmanned aerial vehicles in flight mode transitions

Liu

et al. 2018

Intl J Robust & Nonlinear

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Tail-sitter unmanned aerial vehicles (UAVs) can flight as rotorcrafts as well as fixed-wing aircrafts, but it is hard to control the flight mode transition. The vehicle dynamics involves serious parametric uncertainties, highly nonlinear dynamics, and is easy to be affected by external disturbances, especially during the mode transition. This paper presents a robust control method for a kind of tail-sitter UAVs to achieve the flight mode transition. The robust controller is proposed based on the state-feedback control scheme and the robust compensation method. The proposed control method does not need to switch the coordinate system, the controller structure, or the controller parameters during the mode transitions. Theoretical analysis is given to guarantee the robustness stability of the designed flight control system. Numerical simulation results are presented to show the advantages of the proposed control method compared with the state-feedback control method and the sliding mode control approach. KEYWORDSnonlinear system, robust control, tail-sitter aerial vehicle, uncertain system 1132

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“…where the matrix K = [K Q K ] = [k i j ] 3 × 6 is selected satisfying that A K = A − BK is Hurwitz. Then, from (12), (14), and (15), one can obtain the following error model:…”

Section: Robust Controller Designmentioning

confidence: 99%

Section: Robustness Property Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust attitude control for tail‐sitter unmanned aerial vehicles in flight mode transitions

Liu

et al. 2018

Intl J Robust & Nonlinear

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“…Furthermore it has been proven that in case of rotor-loss the propellers' mutual orientations affect the hexarotor control properties. For example, the authors of [21] have conducted a controllability analysis based on the observation that the dynamical model of a multi-rotor around hovering condition can be approximated by a linear system. Studying its algebraic properties, they have concluded that in case of a rotor failure the controllability strongly depends on the considered configuration in terms of the propeller spinning directions.…”

Section: Introductionmentioning

confidence: 99%

Fundamental Actuation Properties of Multirotors: Force–Moment Decoupling and Fail–Safe Robustness

2018

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In this paper we shed light on two fundamental actuation capabilities of multi-rotors. The first is the amount of coupling between the total force and total moment applied by the propellers to the whole body. The second is the ability to robustly fly completely still in place after the loss of one or more propellers, when the used propellers can only spin in one direction. These two actuation properties are formalized through the definition of some algebraic conditions on the control allocation matrices. The theory is valid for any multi-rotor, with arbitrary number, position and orientation of the propellers, including the more classic ones. As a show case for the general theory we show and explain why standard star-shaped hexarotors with collinear propellers are not able to robustly fly completely still at a constant spot using only five of their six propellers. To deeply understand this counterintuitive result, it is enough to apply our theory, which clarifies the role of the tilt angles and locations of the propellers in the vehicle. The theory is also able to explain why, on the contrary, both the tilted star-shaped hexarotor and the Y-shaped hexarotor can fly with only five out of six propellers. The analysis is validated with both simulations and experimental results testing the control of multi-rotor vehicles subject to rotor loss.

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“…Beside that, worldwide academic centers have developed various projects concerning the design of these aircrafts and the improvement of their performances. One branch of the research deals obviously with the problem of flight stabilization, that, for rotorcraft, represents a troublesome concern (Padfield, 1996, Pounds et al 2009;Du, 2015;Raffo et al, 2009;Crowther, 2011).…”

Section: Introductionmentioning

confidence: 99%

Bandwidth Assessment for MultiRotor UAVs

Ferrarese

2017

Acta Mechanica Et Automatica

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This paper is a technical note about the theoretical evaluation of the bandwidth of multirotor helicopters. Starting from a mathematical linear model of the dynamics of a multirotor aircraft, the transfer functions of the state variables that deeply affect the stability characteristics of the aircraft are obtained. From these transfer functions, the frequency response analysis of the system is effected. After this analysis, the bandwidth of the system is defined. This result is immediately utilized for the design of discrete PID controllers for hovering flight stabilization. Numeric simulations are shown to demonstrate that the knowledge of the bandwidth is a valid aid in the design of flight control systems of these machines.

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Controllability Analysis for Multirotor Helicopter Rotor Degradation and Failure

Cited by 55 publications

References 18 publications

Robust attitude control for tail‐sitter unmanned aerial vehicles in flight mode transitions

Robust attitude control for tail‐sitter unmanned aerial vehicles in flight mode transitions

Fundamental Actuation Properties of Multirotors: Force–Moment Decoupling and Fail–Safe Robustness

Bandwidth Assessment for MultiRotor UAVs

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