In this paper, fault-tolerance characteristics of a reconfigurable tilt-rotor quadcopter upon a propeller failure are presented. Traditional quadcopters experience instability and asymmetry about yaw-axis upon a propeller failure but the design and control strategy presented here can handle a complete propeller failure during flight. Fault-tolerance is achieved by means of structural and flight controller reconfiguration. The concept involves conversion of a tilt-rotor UAV into a T-copter. The dynamics and control of the tilt-rotor quadcopter are presented for ideal flight condition and for the reconfigured system in case of propeller failure. Analytical solution for trim flight conditions yielding zero angular rates for the UAV is derived. It has been shown that the structurally reconfigured UAV is controllable and completes the flight mission without much compromise in flight performance. The controllability and observability analysis of the reconfigured system is shown by state space formulation. The flight controllers for both dynamic models are analyzed and the applicability of the proposed concept is presented by propeller failure simulation during the way-point navigation.
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ASME 2018 Dynamic Systems and Control Conference
September 30–October 3, 2018
Atlanta, Georgia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5191-3
PROCEEDINGS PAPER
Reconfigurable Fault-Tolerant Tilt-Rotor Quadcopter System
Rumit Kumar,
Rumit Kumar
University of Cincinnati, Cincinnati, OH
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Siddharth Sridhar,
Siddharth Sridhar
University of Cincinnati, Cincinnati, OH
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Franck Cazaurang,
Franck Cazaurang
University of Bordeaux, Talence, France
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Kelly Cohen,
Kelly Cohen
University of Cincinnati, Cincinnati, OH
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Manish Kumar
Manish Kumar
University of Cincinnati, Cincinnati, OH
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Rumit Kumar
University of Cincinnati, Cincinnati, OH
Siddharth Sridhar
University of Cincinnati, Cincinnati, OH
Franck Cazaurang
University of Bordeaux, Talence, France
Kelly Cohen
University of Cincinnati, Cincinnati, OH
Manish Kumar
University of Cincinnati, Cincinnati, OH
Paper No:
DSCC2018-9197, V003T37A008; 10 pages
Published Online:
November 12, 2018
Citation
Kumar, R, Sridhar, S, Cazaurang, F, Cohen, K, & Kumar, M. "Reconfigurable Fault-Tolerant Tilt-Rotor Quadcopter System." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T37A008. ASME. https://doi.org/10.1115/DSCC2018-9197
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