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 language | English |
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Pages (from-to) | 3201 - 3207 |
Journal | IEEE Robotics and Automation Letters |
Volume | 3 |
Issue number | 4 |
DOIs | |
Publication status | Published - 2018 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.