Abstract:
A backstepping approach is proposed in this paper to cope with the failure of a quadrotor propeller. The presented methodology supposes to turn off also the motor which i...Show MoreMetadata
Abstract:
A backstepping approach is proposed in this paper to cope with the failure of a quadrotor propeller. The presented methodology supposes to turn off also the motor which is opposite to the broken one. In this way, a birotor configuration with fixed propellers is achieved. The birotor is controlled to follow a planned emergency landing trajectory. Theory shows that the birotor can reach any point in the Cartesian space losing the possibility to control the yaw angle. Simulation tests are employed to validate the proposed controller design.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
ISBN Information: