Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers

机译：尽管一台，两台或三台螺旋桨完全丢失，但直升机的稳定性和控制能力

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This paper presents periodic solutions for a quadrocopter maintaining a height around a position in space despite having lost a single, two opposing, or three propellers. In each case the control strategy consists of the quadrocopter spinning about a primary axis, fixed with respect to the vehicle, and tilting this axis for translational control. A linear, timeinvariant description of deviations from the attitude equilibrium is derived, allowing for a convenient cascaded control design. The results for the cases of losing one and two propellers are validated in experiment, while the case of losing three propellers is validated in a nonlinear simulation. These results have application in multicopter fault-tolerant control design, and also point to possible design directions for novel flying vehicles.

机译：本文提出了一种直升机解决方案，该方案虽然失去了一个，两个相对的或三个螺旋桨，但仍能在空间位置保持高度附近的直升机。在每种情况下，控制策略都包括：直升机围绕主轴旋转（相对于车辆固定），并使该轴倾斜以进行平移控制。得出了与姿态平衡之间的偏差的线性时不变描述，从而可以方便地进行级联控制设计。在实验中验证了丢失一台和两台螺旋桨的情况的结果，而在非线性仿真中验证了丢失三台螺旋桨的情况的结果。这些结果已应用于多旋翼飞机的容错控制设计中，并指出了新型飞行器的可能设计方向。

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来源
《IEEE International Conference on Robotics & Automation》|2014年|45-52|共8页
会议地点 Hong Kong(HK)
作者
Mueller, Mark W.; D'Andrea, Raffaello;
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Institute for Dynamic Systems and Control ETH Zurich Sonneggstrasse 3 8092 Zurich Switzerland;

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关键词
Angular velocity; Attitude control; Force; IP networks; Propellers; Torque; Vehicles;

机译：角速度;姿态控制；力; IP网络；螺旋桨；扭矩汽车;

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4. Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers [C] . Mueller Mark W., DAndrea Raffaello IEEE International Conference on Robotics Automation . 2014

机译：尽管有一个，两个或三个螺旋桨完全丧失，但稳定性和控制数
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Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers

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