Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles

Pose, Claudio D.; Giribet, Juan I.; Mas, Ignacio

artículo de publicación periódica.page.titleprefix
Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles

dc.contributor.author	Pose, Claudio D.
dc.contributor.author	Giribet, Juan I.
dc.contributor.author	Mas, Ignacio
dc.date.accessioned	2020-12-11T18:25:29Z
dc.date.available	2020-12-11T18:25:29Z
dc.date.issued	2020-08
dc.description.abstract	"Several works have addressed the issue of fault tolerance in multirotors in case of a rotor total failure, particularly their ability to keep full independent control of attitude and altitude. It has been proven that to achieve this, a minimum of six rotors is needed. In this work, the performance of several standard and nonstandard hexarotor structures is analyzed, both for a nominal case (without failure) and in the case where one of the actuators is under failure (incapability to exert thrust). The performance is shown in terms of maximum rotational torque and vertical force that the vehicle can exert. The main contribution of this work is the proposal and analysis of converting these vehicles into reconfigurable ones through the addition of a minimum number of servomotors, to deal with failures and to greatly improve the maneuverability under these conditions, in order to identify the reconfigurable structure with the best performance. An experimental demonstration in an outdoor environment is shown for the proposed reconfigurable structure with best performance in case of a full rotor failure."	en
dc.identifier.issn	1083-4435
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/3249
dc.language.iso	en	en
dc.relation	info:eu-repo/semantics/altIdentifier/doi/10.1109/TMECH.2020.2993222
dc.relation	info:eu-repo/grantAgreement/UBA/UBACyT/PDE/18-2019/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Ciudad Autónoma de Buenos Aires
dc.subject	TOLERANCIA	es
dc.subject	MICRO VEHICULOS AEREOS	es
dc.subject	ANALISIS DE FALLAS	es
dc.title	Fault tolerance analysis for a class of reconfigurable aerial hexarotor vehicles	en
dc.type	Artículos de Publicaciones Periódicas	es
dc.type
dspace.entity.type	Artículo de Publicación Periódica
itba.description.filiation	Fil: Pose, Claudio D. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiation	Fil: Giribet, Juan I. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiation	Fil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
itba.description.filiation	Fil: Mas, Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiation	Fil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina
itba.description.filiation	Fil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina