Multirotor Unmanned Aerial Vehicle Configuration Optimization Approach for Development of Actuator Fault-Tolerant Structure

Abstract

Presently, multirotor unmanned aerial vehicles (UAV) are utilized in numerous applications. Their design governs the system’s controllability and operation performance by influencing the achievable forces and moments produced. However, unexpected causalities, such as actuator failure, adversely affect their controllability, which raises safety concerns about their service. On the other hand, their design flexibility allows further design optimization for various performance requirements, including actuator failure tolerance. Thus, this study proposed an optimization framework that can be employed to design a novel actuator fault-tolerant multirotor UAV configuration. The approach used an attainable moment set (AMS) to evaluate the achievable moment from a multirotor configuration; similarly, standard deviation geometries (SDG) were employed to define performance requirements. Therefore, given a UAV configuration, actuator fault situation, and SDG derived from the designed mission requirement, the suggested optimization framework maximizes the scaling factor of SDG and fits it into the AMS by adjusting the design parameters up to a sufficient margin. The framework is implemented to optimize selected parameters of the Hexacopter-type of parcel delivery multirotor UAV developed by the PNU drone, and a simulation was conducted. The result showed that the optimized configuration of the UAV achieved actuator fault tolerance and operation-performing capability in the presence of a failed actuator.

Vision-Guided Tracking and Emergency Landing for UAVs on Moving Targets

“…Numerous studies, including our prior research, have demonstrated the ability to partially regain control authority in certain types of multirotor UAVs during mid-flight propulsion system failures [13][14][15]. Specifically, the hexarotor configuration noted in [16] exhibits enhanced resilience to actuator failures.…”

Special Issue on Unmanned Aerial Vehicles

“…The choice of the number and types of actuators, and how they are used in the vehicle design may improve its robustness wrt to faults. In [4], an optimization framework is presented to design a novel actuator fault-tolerant multrirotor MAV.…”

Deep Learning-Based Robust Actuator Fault Detection and Isolation Scheme for Highly Redundant Multirotor UAVs

“…In multirotor UAVs, the spinning propellers play a crucial role in generating forces and moments that impact the system dynamics. The configuration of a multirotor UAV is determined by parameters such as the position, orientation, and number of propulsion systems [24]. Throughout this article, the term "actuator" is used interchangeably to refer to the propulsion system, particularly the motor and propeller components.…”

“…Figure 3 illustrates the impact of the failed actuator's position on the attainable force and moment using the Attainable Moment Set (AMS) method. The AMS method is a powerful tool for understanding a system's control authority [24]. It imposes constraints on the maximum attainable time derivative of states, such as accelerations, which, in turn, limits maneuverability, trajectory agility, and disturbance rejection capabilities.…”