JRM Vol.28 No.6 pp. 899-910
doi: 10.20965/jrm.2016.p0899


Autonomous Flight of Hexacopter Under Propulsion System Failure

Yi Yang*, Daisuke Iwakura**, Akio Namiki*, Kenzo Nonami*,**, and Wei Wang***

*Chiba University
1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan

**Autonomous Control Systems Laboratory Ltd.
1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan

***Nanjing University of Information Science and Technology
219 Ningliu Road, Pukou District, Nanjing, China

April 26, 2016
September 27, 2016
December 20, 2016
hexacopter, fault tolerant, control allocation, linear quadratic integral (LQI)
This paper presents a fault-tolerant approach for the propulsion systems of hexacopters (i.e., rotors and propellers) to overcome failures during outdoor autonomous flight missions. In this study, we used an explicit control allocation method for each stopped motor, and an asymmetrical motor rotation arrangement is applied in order to guarantee the controllability of the yaw. Finally, the developed fault diagnosis and isolation system is tested during a global-positioning-system-based autonomous flight of a hexacopter with a failed motor.
Fault tolerant control structure of hexacopter

Fault tolerant control structure of hexacopter

Cite this article as:
Y. Yang, D. Iwakura, A. Namiki, K. Nonami, and W. Wang, “Autonomous Flight of Hexacopter Under Propulsion System Failure,” J. Robot. Mechatron., Vol.28 No.6, pp. 899-910, 2016.
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