Artículo de Publicación Periódica: Analysis and design of a tilted rotor hexacopter for fault tolerance
| dc.contributor.author | Giribet, Juan I. | |
| dc.contributor.author | Sanchez-Peña, Ricardo | |
| dc.contributor.author | Ghersin, Alejandro S. | |
| dc.date.accessioned | 2023-06-30T14:45:53Z | |
| dc.date.available | 2023-06-30T14:45:53Z | |
| dc.date.issued | 2016 | |
| dc.description.abstract | A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory. | |
| dc.identifier.citation | J. I. Giribet, R. S. Sanchez-Pena and A. S. Ghersin, "Analysis and design of a tilted rotor hexacopter for fault tolerance," in IEEE Transactions on Aerospace and Electronic Systems, vol. 52, no. 4, pp. 1555-1567, August 2016, doi: 10.1109/TAES.2016.140885. | |
| dc.identifier.uri | https://ri.itba.edu.ar/handle/123456789/4198 | |
| dc.language.iso | en | |
| dc.publisher | IEEE | |
| dc.subject | ANTENAS | |
| dc.subject | VEHICULOS AEREOS NO TRIPULADOS | |
| dc.subject | TOLERANCIA A FALLOS | |
| dc.subject | SISTEMAS DE CONTROL | |
| dc.title | Analysis and design of a tilted rotor hexacopter for fault tolerance | |
| dc.type | Artículo de Publicación Periódica | |
| dspace.entity.type | Artículo de Publicación Periódica | |
| itba.description.filiation | Fil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Tecnológicas; Argentina. | |
| itba.description.filiation | Fil: Sanchez-Peña, Ricardo. Instituto Tecnológico de Buenos Aires; Argentina. | |
| itba.description.filiation | Fil: Ghersin, Alejandro S. Consejo Nacional de Investigaciones Científicas y Tecnológicas; Argentina. |