Abstract
How to Avoid a Multirotor Flight Crash under Complete Propeller Motor Failures Based on State Variable Approach
Highlights
Multirotors are aerial robotic vehicles that are increasing in popularity.(1–11) These vehicles are currently being used in many applications such as surveillance and search and rescue missions
To clarify how to obtain such motor control signals, before considering the multirotor flight states to avoid a crash in the case of complete motor failures, on the basis of Refs. 12 and 13, we focus on reliable multirotor flight simulations and maneuverable flight controls by using an approach based on Euler angle rotational and translational state variables, which includes an analysis of the operating points
The main purpose of this study is to directly provide the motor speed signals for the multirotor flight states to avoid a crash in the case of complete motor failures based on the state variable approach
Summary
Multirotors are aerial robotic vehicles that are increasing in popularity.(1–11) These vehicles are currently being used in many applications such as surveillance and search and rescue missions. To clarify how to obtain such motor control signals, before considering the multirotor flight states to avoid a crash in the case of complete motor failures, on the basis of Refs. The main purpose of this study is to directly provide the motor speed signals for the multirotor flight states to avoid a crash in the case of complete motor failures based on the state variable approach. 3, in the case of complete motor failures, we provide definitions of the motor speed control signal vector of the remaining motors and a method of directly providing motor speed control signals to achieve flight states to avoid a crash. In Appendix 3, in the case of complete motor failures, we provide two theorems to achieve the two types of multirotor flight states in Table 3 to avoid a crash. Matrices and vectors are indicated in bold. ⟨ · , · ⟩ denotes the scalar product, [ · , · ] the vector product, ( · )−1 the inverse matrix of ( · ), and ( · )T the transposition of ( · )
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