Fail-Safe Flight of a Fully-Actuated Quadrotor in a Single Motor Failure

Seung Jae Lee; Inkyu Jang; H. Jin Kim

doi:10.1109/LRA.2020.3013862

Fail-Safe Flight of a Fully-Actuated Quadrotor in a Single Motor Failure

Seung Jae Lee, Inkyu Jang, H. Jin Kim

Dept. of Mechanical System and Design Engineering

Seoul National University

Research output: Contribution to journal › Article › peer-review

14 Scopus citations

Abstract

In this letter, we introduce a new quadrotor fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a standard multirotor even when a single thruster fails. The new solution employs a novel multirotor platform known as the T^3-Multirotor and utilizes a distinctive strategy of actively controlling the center of gravity position to restore the controllable degrees of freedom. A dedicated control structure is introduced, along with a detailed analysis of the dynamic characteristics of the platform that change during emergency flights. Experimental results are provided to validate the feasibility of the proposed solution.

Original language	English
Article number	9158358
Pages (from-to)	6403-6410
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	5
Issue number	4
DOIs	https://doi.org/10.1109/LRA.2020.3013862
State	Published - Oct 2020

Keywords

Aerial systems: mechanics and control
dynamics
failure detection and recovery
robot safety

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10.1109/LRA.2020.3013862

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title = "Fail-Safe Flight of a Fully-Actuated Quadrotor in a Single Motor Failure",

abstract = "In this letter, we introduce a new quadrotor fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a standard multirotor even when a single thruster fails. The new solution employs a novel multirotor platform known as the T\textasciicircum{}3-Multirotor and utilizes a distinctive strategy of actively controlling the center of gravity position to restore the controllable degrees of freedom. A dedicated control structure is introduced, along with a detailed analysis of the dynamic characteristics of the platform that change during emergency flights. Experimental results are provided to validate the feasibility of the proposed solution.",

keywords = "Aerial systems: mechanics and control, dynamics, failure detection and recovery, robot safety",

author = "Lee, \{Seung Jae\} and Inkyu Jang and Kim, \{H. Jin\}",

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Y1 - 2020/10

N2 - In this letter, we introduce a new quadrotor fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a standard multirotor even when a single thruster fails. The new solution employs a novel multirotor platform known as the T^3-Multirotor and utilizes a distinctive strategy of actively controlling the center of gravity position to restore the controllable degrees of freedom. A dedicated control structure is introduced, along with a detailed analysis of the dynamic characteristics of the platform that change during emergency flights. Experimental results are provided to validate the feasibility of the proposed solution.

AB - In this letter, we introduce a new quadrotor fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a standard multirotor even when a single thruster fails. The new solution employs a novel multirotor platform known as the T^3-Multirotor and utilizes a distinctive strategy of actively controlling the center of gravity position to restore the controllable degrees of freedom. A dedicated control structure is introduced, along with a detailed analysis of the dynamic characteristics of the platform that change during emergency flights. Experimental results are provided to validate the feasibility of the proposed solution.

KW - Aerial systems: mechanics and control

KW - dynamics

KW - failure detection and recovery

KW - robot safety

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IS - 4

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ER -

Fail-Safe Flight of a Fully-Actuated Quadrotor in a Single Motor Failure

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