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

Paper:

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

Received:
April 26, 2016
Accepted:
September 27, 2016
Published:
December 20, 2016
Keywords:
hexacopter, fault tolerant, control allocation, linear quadratic integral (LQI)
Abstract

Autonomous Flight of Hexacopter Under Propulsion System Failure

Fault tolerant control structure of hexacopter

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.

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.
Data files:
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Last updated on Nov. 12, 2018