Fault-tolerant systems for unmanned multirotor aerial vehicles

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

capítulo de libro.page.titleprefix
Fault-tolerant systems for unmanned multirotor aerial vehicles

dc.contributor.author	Giribet, Juan I.
dc.contributor.author	Pose, Claudio D.
dc.contributor.author	Mas, Ignacio
dc.date.accessioned	2021-03-26T19:11:26Z
dc.date.available	2021-03-26T19:11:26Z
dc.date.issued	2020
dc.description.abstract	"This chapter presents some recent results on fault-tolerant control systems for unmanned aerial systems, in particular for multirotor-type vehicles, commonly known as drones. Over the last years, these vehicles have become widely popular. Simplicity and cost-effectiveness have turned out to be very appealing and, as a consequence, an increasing number of applications have risen in many fields such as agriculture, surveillance, and photography, among others. As mission requirements become more demanding, the matter of fault tolerance emerges as a key challenge, especially if system certification is sought. Here, the focus is placed particularly on rotor failures in multirotor vehicles, and a specific definition for fault tolerance is considered based on the maneuverability capabilities in case of a failure. A geometric analysis is presented to evaluate the fault tolerant capabilities of a given vehicle, together with an experimental validation. Then, the limitations of this concept are analyzed. Finally, a novel reconfigurable structure is proposed for a fault-tolerant hexarotor, that presents good flight performance in failure cases, together with experimental results."	en
dc.identifier.isbn	978-1536-17-528-8
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/3421
dc.language.iso	en	en
dc.subject	MICRO VEHICULOS AEREOS	es
dc.subject	NAVEGACION	es
dc.subject	TOLERANCIA A FALLOS	es
dc.subject	SISTEMAS DE CONTROL	es
dc.title	Fault-tolerant systems for unmanned multirotor aerial vehicles	en
dc.type	Capítulo de libro	es
dspace.entity.type	Capítulo de libro
itba.description.filiation	Fil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiation	Fil: Giribet, Juan I. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiation	Fil: Pose, Claudio D. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técncas; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina.