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

Sihao Sun, Matthias Baert, Bram Strack Van Schijndel, Coen De Visser

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages4273-4279
Number of pages7
ISBN (Electronic)9781728173955
DOIs
Publication statusPublished - May 2020
Event2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
Duration: 31 May 202031 Aug 2020

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Country/TerritoryFrance
CityParis
Period31/05/2031/08/20

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