Analysis and design of a tilted rotor hexacopter for fault tolerance
- Autores
- Giribet, Juan Ignacio; Sanchez Peña, Ricardo Salvador; Ghersin, Alejandro Simon
- Año de publicación
- 2016
- Idioma
- inglés
- Tipo de recurso
- artículo
- Estado
- versión publicada
- Descripción
- A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory.
Fil: Giribet, Juan Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; Argentina
Fil: Sanchez Peña, Ricardo Salvador. Instituto Tecnológico de Buenos Aires. Departamento de Matemática. Centro de Sistemas y Control; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Ghersin, Alejandro Simon. Instituto Tecnologico de Buenos Aires. Fac de Ingenieria. Dto de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina - Materia
-
Unmanned Aerial Vehicle
Hexacopter
Fault Tolerant Control
Control allocation - Nivel de accesibilidad
- acceso abierto
- Condiciones de uso
- https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
- Repositorio
- Institución
- Consejo Nacional de Investigaciones Científicas y Técnicas
- OAI Identificador
- oai:ri.conicet.gov.ar:11336/178853
Ver los metadatos del registro completo
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Analysis and design of a tilted rotor hexacopter for fault toleranceGiribet, Juan IgnacioSanchez Peña, Ricardo SalvadorGhersin, Alejandro SimonUnmanned Aerial VehicleHexacopterFault Tolerant ControlControl allocationhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory.Fil: Giribet, Juan Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; ArgentinaFil: Sanchez Peña, Ricardo Salvador. Instituto Tecnológico de Buenos Aires. Departamento de Matemática. Centro de Sistemas y Control; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Ghersin, Alejandro Simon. Instituto Tecnologico de Buenos Aires. Fac de Ingenieria. Dto de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaInstitute of Electrical and Electronics Engineers2016-04info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/178853Giribet, Juan Ignacio; Sanchez Peña, Ricardo Salvador; Ghersin, Alejandro Simon; Analysis and design of a tilted rotor hexacopter for fault tolerance; Institute of Electrical and Electronics Engineers; IEEE Transactions on Aerospace and Electronic Systems; 52; 4; 4-2016; 1555-15670018-9251CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/7738337/info:eu-repo/semantics/altIdentifier/doi/10.1109/TAES.2016.140885info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T14:26:42Zoai:ri.conicet.gov.ar:11336/178853instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-15 14:26:42.711CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse |
dc.title.none.fl_str_mv |
Analysis and design of a tilted rotor hexacopter for fault tolerance |
title |
Analysis and design of a tilted rotor hexacopter for fault tolerance |
spellingShingle |
Analysis and design of a tilted rotor hexacopter for fault tolerance Giribet, Juan Ignacio Unmanned Aerial Vehicle Hexacopter Fault Tolerant Control Control allocation |
title_short |
Analysis and design of a tilted rotor hexacopter for fault tolerance |
title_full |
Analysis and design of a tilted rotor hexacopter for fault tolerance |
title_fullStr |
Analysis and design of a tilted rotor hexacopter for fault tolerance |
title_full_unstemmed |
Analysis and design of a tilted rotor hexacopter for fault tolerance |
title_sort |
Analysis and design of a tilted rotor hexacopter for fault tolerance |
dc.creator.none.fl_str_mv |
Giribet, Juan Ignacio Sanchez Peña, Ricardo Salvador Ghersin, Alejandro Simon |
author |
Giribet, Juan Ignacio |
author_facet |
Giribet, Juan Ignacio Sanchez Peña, Ricardo Salvador Ghersin, Alejandro Simon |
author_role |
author |
author2 |
Sanchez Peña, Ricardo Salvador Ghersin, Alejandro Simon |
author2_role |
author author |
dc.subject.none.fl_str_mv |
Unmanned Aerial Vehicle Hexacopter Fault Tolerant Control Control allocation |
topic |
Unmanned Aerial Vehicle Hexacopter Fault Tolerant Control Control allocation |
purl_subject.fl_str_mv |
https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
dc.description.none.fl_txt_mv |
A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory. Fil: Giribet, Juan Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; Argentina Fil: Sanchez Peña, Ricardo Salvador. Instituto Tecnológico de Buenos Aires. Departamento de Matemática. Centro de Sistemas y Control; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina Fil: Ghersin, Alejandro Simon. Instituto Tecnologico de Buenos Aires. Fac de Ingenieria. Dto de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina |
description |
A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory. |
publishDate |
2016 |
dc.date.none.fl_str_mv |
2016-04 |
dc.type.none.fl_str_mv |
info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion http://purl.org/coar/resource_type/c_6501 info:ar-repo/semantics/articulo |
format |
article |
status_str |
publishedVersion |
dc.identifier.none.fl_str_mv |
http://hdl.handle.net/11336/178853 Giribet, Juan Ignacio; Sanchez Peña, Ricardo Salvador; Ghersin, Alejandro Simon; Analysis and design of a tilted rotor hexacopter for fault tolerance; Institute of Electrical and Electronics Engineers; IEEE Transactions on Aerospace and Electronic Systems; 52; 4; 4-2016; 1555-1567 0018-9251 CONICET Digital CONICET |
url |
http://hdl.handle.net/11336/178853 |
identifier_str_mv |
Giribet, Juan Ignacio; Sanchez Peña, Ricardo Salvador; Ghersin, Alejandro Simon; Analysis and design of a tilted rotor hexacopter for fault tolerance; Institute of Electrical and Electronics Engineers; IEEE Transactions on Aerospace and Electronic Systems; 52; 4; 4-2016; 1555-1567 0018-9251 CONICET Digital CONICET |
dc.language.none.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/7738337/ info:eu-repo/semantics/altIdentifier/doi/10.1109/TAES.2016.140885 |
dc.rights.none.fl_str_mv |
info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/2.5/ar/ |
eu_rights_str_mv |
openAccess |
rights_invalid_str_mv |
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/ |
dc.format.none.fl_str_mv |
application/pdf application/pdf application/pdf |
dc.publisher.none.fl_str_mv |
Institute of Electrical and Electronics Engineers |
publisher.none.fl_str_mv |
Institute of Electrical and Electronics Engineers |
dc.source.none.fl_str_mv |
reponame:CONICET Digital (CONICET) instname:Consejo Nacional de Investigaciones Científicas y Técnicas |
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CONICET Digital (CONICET) |
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CONICET Digital (CONICET) |
instname_str |
Consejo Nacional de Investigaciones Científicas y Técnicas |
repository.name.fl_str_mv |
CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas |
repository.mail.fl_str_mv |
dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar |
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