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CEAS EuroGNC 2019 |
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Reconfigurability analysis of multirotor UAVs |
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| Abstract: The most common fault type for multirotors is the loss of one of the propulsive units (because of aerodynamic, mechanical or electrical issues). To face such a fault one must reconfigure the multirotor so that balance of vertical forces and momenta about the three axes can still be guaranteed with the remaining units. In this paper the approach proposed in [1] is applied to multirotor configurations under study for the design of a multirotor platform for inspections in oil & gas plants. More specifically two classes of multirotors are studied: first hexacopters with H configuration are considered; subsequently octocopters are studied. | ||||
| Keywords: Fault detection, isolation, and reconfiguration; MAV flight dynamics and control | ||||
| CEAS-GNC-2019-040 PDF is not available online. Authors may distribute copies of their paper or contact the CEAS GNC TC chair to make their paper available through the EuroGNC paper archive. |
| Marco Maccotta, Marco Lovera: Reconfigurability analysis of multirotor UAVs. Proceedings of the 2019 CEAS EuroGNC conference. Milan, Italy. April 2019. CEAS-GNC-2019-040. |
| BibTeX entry: @Incollection{CEAS-GNC-2019-040, authors = {Maccotta, Marco and Lovera, Marco}, title = {Reconfigurability analysis of multirotor {UAVs}}, booktitle = {Proceedings of the 2019 {CEAS EuroGNC} conference}, address = {Milan, Italy}, month = apr, year = {2019}, note = {CEAS-GNC-2019-040} } |