Quadrotor Upset Recovery after Rotor Failure

Title

Quadrotor Upset Recovery after Rotor Failure

 Author

Baert, Matthias (TU Delft Aerospace Engineering)

Contributor

de Visser, C.C. (mentor) ORCID 0000-0002-4653-0002

 Degree granting institution

Delft University of Technology

 Programme

Aerospace Engineering

 Date

2019-07-08

 Abstract

A fault-tolerant controller is presented that is able to recover a quadrotor from an upset condition in the case of a single rotor failure. With only 3 rotors the quadrotor is not fully controllable anymore, however by using precession the quadrotor can be made controllable again in roll and pitch. A step-by-step recovery strategy is proposed in which controllability is actively recovered before recovery of attitude and altitude. Control allocation is based on the Incremental Non-Linear Dynamic Inversion (INDI) principle and takes rotor saturation into account by solving a constrained quadratic optimisation problem. The controller is validated in a real life test environment where the quadrotor is thrown into the air with only 3 propellers from which it has to recover using the techniques presented in this paper.

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http://resolver.tudelft.nl/uuid:4e1011c7-2db9-4dfe-a910-f2843414b960

 Part of collection

Student theses

 Document type

master thesis

 Rights

© 2019 Matthias Baert
Files
PDF MatthiasBaert_thesis_report.pdf 6.87 MB
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