DocumentCode
236001
Title
Emergency landing for a quadrotor in case of a propeller failure: A PID based approach
Author
Lippiello, Vincenzo ; Ruggiero, Fabio ; Serra, Diana
Author_Institution
Dept. of Electr. Eng. & Inf. Technol., Univ. degli Studi di Napoli Federico II, Naples, Italy
fYear
2014
fDate
27-30 Oct. 2014
Firstpage
1
Lastpage
7
Abstract
A controller dealing with the failure of a quadrotor´s motor is presented in this paper. Supposing that the failure has been already detected by the system, the quadrotor is modelled as a birotor with fixed propellers and it is controlled to follow a planned emergency landing trajectory. Theory shows that, in such a configuration, the aerial vehicle is allowed to reach any position in the Cartesian space dropping the possibility to control the yaw angle. Simulations are presented to confirm the presented methodology.
Keywords
aircraft control; failure analysis; helicopters; propellers; three-term control; trajectory control; Cartesian space; PID based approach; aerial vehicle; birotor; emergency landing trajectory; propeller failure; quadrotor motor; yaw angle control; Acceleration; Equations; Mathematical model; Propellers; Symmetric matrices; Trajectory; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Safety, Security, and Rescue Robotics (SSRR), 2014 IEEE International Symposium on
Conference_Location
Hokkaido
Type
conf
DOI
10.1109/SSRR.2014.7017647
Filename
7017647
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