Ingeniería Electrónica

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Experimental validation of a fault-tolerant hexacopter with tilted rotors
(2018) Giribet, Juan I.; Pose, Claudio D.; Ghersin, Alejandro S.; Mas, Ignacio
"Recently, research reporting the advantages of flying with tilted-motor multicopters has surfaced. Particularly, it has been theoretically proven that in the case of a complete failure of one of the motors in a hexagon-shaped hexacopter, complete altitude and attitude control can be maintained. In this work, these theoretical results were experimentally validated."
Fault tolerant control of an hexacopter with a tilted-rotor configuration
(2017) Giribet, Juan I.; Pose, Claudio D.; Mas, Ignacio
"Recently, it was shown that an hexagon-shaped hexa-rotor micro aerial vehicle with unidirectionally spinning tilted rotors is capable of fault tolerant attitude and altitude control. This result has been theoretically proven and validated by simulations. However, experimental results have never been reported yet. In this work experimental results are presented, and a comparison between a tilted-rotor hexacopter with one in a standard rotor configuration is carried out."
Hexacopter fault tolerant actuator allocation analysis for optimal thrust
(2017) Pose, Claudio D.; Giribet, Juan I.; Ghersin, Alejandro S.
"Recently, it was shown that an hexagon shaped hexarotor vehicle with tilted rotors, is capable of fault tolerant attitude and altitude control. In this work, we propose a strategy to select the signals commanded to each rotor in order to achieve a desired torque and vertical force. The proposed strategy is optimal in the sense that minimizes the maximum force exerted by the rotors. A comparison with the commonly used strategy based upon the Moore-Penrose pseudoinverse is carried out. It is shown that, with the optimal strategy proposed here, maneuverability is improved, because the new method takes into account the actuators constraints. Although the optimal strategy is computationally more demanding than the classical method, the additional computational burden is not significant when both strategies are compared in a real application. To show this, both algorithms were programmed in an autopilot based on an ARM Cortex M3 microcontroller, and the experimental results are presented."

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