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
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/178853
Acceder
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network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling 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
reponame_str CONICET Digital (CONICET)
collection 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
_version_ 1846082714949648384
score 13.22299

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