Controllability and Design of Unmanned Multirotor Aircraft Robust to Rotor Failure
Abstract
A new design method for multi-rotor aircraft with distributed electric propulsion is presented to ensure a property of robustness against rotor failure from the control perspective. Based on the concept of null controllability, a quality measure is derived to evaluate and quantify the performance of a given design with the consideration of rotor failure. An optimization problem whose cost function is based on the quality measure is formulated and its optimal solution identifies a set of optimal design parameters that maximizes an aircraft's ability to control its attitude and hence its position. The effectiveness of the proposed design procedure is validated through the results of experimentation with the Autonomous Flying Ambulance model being developed at Caltech's Center for Autonomous Systems and Technologies.
Additional Information
© 2019 AIAA. AIAA Paper 2019-1787. This work was in part funded by Caltech's Center for Autonomous Systems and Technologies and AeroVironment, Inc. The authors would like to thank Reza Nemovi and Amarbold Batzorig for their help with experiments.Attached Files
Accepted Version - Controllability_and_Design_of_Unmanned_Multirotor_Aircraft_Robust_to_Rotor_Failure-revised.pdf
Files
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Additional details
- Eprint ID
- 92174
- Resolver ID
- CaltechAUTHORS:20190109-131619062
- Center for Autonomous Systems and Technologies
- AeroVironment
- Created
-
2019-01-09Created from EPrint's datestamp field
- Updated
-
2023-03-14Created from EPrint's last_modified field
- Caltech groups
- GALCIT, Center for Autonomous Systems and Technologies (CAST)
- Other Numbering System Name
- AIAA Paper
- Other Numbering System Identifier
- 2019-1787