CONDITIONSTO REALIZE HEXAROTOR STABLE FLIGHTS TO AVOID A CRASH UNDER COMPLETE PROPELLOR MOTOR FAILURESJournal: International Journal of Advanced Research (Vol.7, No. 12)
Publication Date: 2019-12-17
Authors : Kaito Isogai; Hideaki Okazaki;
Page : 261-278
Keywords : Hexarotor Motor Failure Problem Stable Flights To Avoid a Crash;
In this paper, in the case of complete propeller motor failures, a feedback-loop control for a multirotor to avoid a crash when some motors fail and stop, is presented, and verified by simulation results. First, the modeling foundation for a multirotor, and the flight states are summarized. Secondly, theorems of the stabilizability of the flight states for avoiding a crash, by nonlinear dynamic state equations with state variable feedbacks are provided, andalso verified by simulations. In conclusion, the principal results are summarized, and the future research is described.
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