Emergency landing for a quadrotor in case of a propeller failure: A PID based approach

We introduce a new kind of aerial manipulator based on multirotors. This device exploits the rarely used yaw movement which characterizes these aircrafts in order to generate and transmit forces and displacements trough a serial-chain of rigid links and other drones, as if the whole system was a flying robot arm with UAVS as rotational joints. Also we provide comparisons with the existing technologies and a condensed review concerning them. Finally, this paper proposes many open problems in order to develop the final system. Due to the scientific and social impact of this new approach, we provide some application examples.

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“…We must underscore that none of the three methods here described is free of rotor-damage [97], [98], [98], [99], [100] Energy:…”

Section: Mechanicsmentioning

confidence: 93%

Air-arm: A new kind of flying manipulator

Mendoza-Mendoza

Sepulveda-Cervantes²,

Aguilar-Ibáñez

et al. 2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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“…But even then, the altitude and position of a post-failure quadrotor remain controllable. Based on this seminal work [12] a wide variety of methods have been proposed and tested, including linear controllers such as proportional-integral-derivative (PID) controlller [13], linear quadratic regulator (LQR) [14], and linear parameter varying (LPV) [15] methods that rely on a relaxed hovering equilibrium to perform linearization [16]. The Sequential Linear Quadratic (SLQ) control [17], on the other hand, performs the linearization around a predicted trajectory instead of a single equilibrium.…”

Section: B Related Workmentioning

confidence: 99%

Nonlinear MPC for Quadrotor Fault-Tolerant Control

Fang

Sun

Foehn

et al. 2022

IEEE Robot. Autom. Lett.

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The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of quadrotors render them highly susceptible to system faults, especially rotor failures. In this work, we propose a fault-tolerant controller using nonlinear model predictive control (NMPC) to stabilize and control a quadrotor subjected to the complete failure of a single rotor. Differently from existing works, which either rely on linear assumptions or resort to cascaded structures neglecting input constraints in the outer-loop, our method leverages full nonlinear dynamics of the damaged quadrotor and considers the thrust constraint of each rotor. Hence, this method could effectively perform upset recovery from extreme initial conditions. Extensive simulations and real-world experiments are conducted for validation, which demonstrates that the proposed NMPC method can effectively recover the damaged quadrotor even if the failure occurs during aggressive maneuvers, such as flipping and tracking agile trajectories.

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“…As a consequence, the drone fast spins due to the imbalanced drag torques from remaining rotors. Following this idea, different approaches were proposed for this problem, such as PID [7], backstepping [8], robust feedback linearization [9], and incremental nonlinear dynamic inversion (INDI) [10]. However, these works were only validated in simulation environments.…”

Section: B Related Work 1) Quadrotor Fault-tolerant Controlmentioning

confidence: 99%

Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events

Sun

Cioffi

Visser

et al. 2021

IEEE Robot. Autom. Lett.

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Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on external sensors, such as GPS or motion capture systems, for state estimation. To the best of our knowledge, this has not yet been achieved with only onboard sensors. In this paper, we propose the first algorithm that combines fault-tolerant control and onboard vision-based state estimation to achieve position control of a quadrotor subjected to complete failure of one rotor. Experimental validations show that our approach is able to accurately control the position of a quadrotor during a motor failure scenario, without the aid of any external sensors. The primary challenge to vision-based state estimation stems from the inevitable high-speed yaw rotation (over 20 rad/s) of the damaged quadrotor, causing motion blur to cameras, which is detrimental to visual inertial odometry (VIO). We compare two types of visual inputs to the vision-based state estimation algorithm: standard frames and events. Experimental results show the advantage of using an event camera especially in low light environments due to its inherent high dynamic range and high temporal resolution. We believe that our approach will render autonomous quadrotors safer in both GPS denied or degraded environments. We release both our controller and VIO algorithm open source.

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Emergency landing for a quadrotor in case of a propeller failure: A PID based approach

Cited by 40 publications

References 27 publications

Air-arm: A new kind of flying manipulator

Air-arm: A new kind of flying manipulator

Nonlinear MPC for Quadrotor Fault-Tolerant Control

Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events

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