High-Speed Flight of Quadrotor Despite Loss of Single Rotor

Sihao Sun, Leon Sijbers, Xuerui Wang, Coen de Visser

Research output: Contribution to journalArticleScientificpeer-review

12 Citations (Scopus)

Abstract

In order to achieve high-speed flight of a damaged quadrotor with complete loss of a single rotor, a multiloop hybrid nonlinear controller is designed. By fully making use of sensor measurements, the model dependence of this control method is reduced, which is conducive to handling disturbance from the unknown aerodynamic effects. This controller is tested on a quadrotor vehicle with one rotor completely removed in the high-speed condition. Free flights are performed in the Open Jet Facility, a large-scale wind tunnel. Over 9 m/s flight speed is reached for the damaged quadrotor in these tests. In addition, several high-speed spin-induced aerodynamic effects are discovered and analyzed.
Original languageEnglish
Pages (from-to)3201 - 3207
JournalIEEE Robotics and Automation Letters
Volume3
Issue number4
DOIs
Publication statusPublished - 2018

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