Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances

This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a position/altitude controller, an almost-global convergence attitude co...

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Bibliographic Details
Published in2020 IEEE International Conference on Robotics and Automation (ICRA) pp. 4273 - 4279
Main Authors Sun, Sihao, Baert, Matthias, van Schijndel, Bram Strack, de Visser, Coen
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2020
Subjects
Angular velocity
Attitude control
Drones
Fault tolerance
Fault tolerant systems
Resource management
Rotors
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Summary:This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a position/altitude controller, an almost-global convergence attitude controller, and a control allocation method based on quadratic programming. As a major novelty, a constraint of undesirable angular velocity is derived and fused into the control allocator, which significantly improves the recovery performance. For validation, we have conducted a set of Monte-Carlo simulation to test the reliability of the proposed method of recovering the quadrotor from arbitrary initial attitude/rate conditions. In addition, real-life flight tests have been performed. The results demonstrate that the post-failure quadrotor can recover after being casually tossed into the air.
ISSN:2577-087X
DOI:10.1109/ICRA40945.2020.9197239