Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors

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

Ponencia en Congreso:
Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors

dc.contributor.author	Pose, Claudio D.
dc.contributor.author	Giribet, Juan I.
dc.contributor.author	Mas, Ignacio
dc.date.accessioned	2021-04-16T14:14:02Z
dc.date.available	2021-04-16T14:14:02Z
dc.date.issued	2020
dc.description.abstract	"Tilted rotors in multirotor vehicles have shown to be useful for different practical reasons. For instance, increasing yaw maneuverability or enabling full position and attitude control of hexarotor vehicles. It has also been proven that a hexagon-shaped multirotor is capable of complete attitude and altitude control under failures of one of its rotors. However, when a rotor fails, the torque that can be reached in the worstcase direction decreases considerably. This work proposes to actively change the tilt angle of the rotors when a failure occurs. This rotor reconfiguration increases the maximum torque that can be achieved in the most stressful direction, reducing maneuverability limitations. Experimental validations are shown, where the proposed reconfigurable tilted rotor is used in order to control a hexarotor vehicle when a failure appears mid-flight. The impact of the delay in the reconfiguration when a failure occurs is also addressed."	en
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/3446
dc.language.iso	en	en
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 A FALLOS	es
dc.subject	MICRO VEHICULOS AEREOS	es
dc.title	Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors	es
dc.type	Ponencias en Congresos	es
dc.type	info:eu-repo/semantics/AcceptedVersion
dspace.entity.type	Ponencia en Congreso
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. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.