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

Author

Lippiello, Vincenzo ; Ruggiero, Fabio ; Serra, Diana

Author_Institution

Dept. of Electr. Eng. & Inf. Technol., Univ. degli Studi di Napoli Federico II, Naples, Italy

fYear

2014

fDate

14-18 Sept. 2014

Firstpage

4782

Lastpage

4788

Abstract

A backstepping approach is proposed in this paper to cope with the failure of a quadrotor propeller. The presented methodology supposes to turn off also the motor which is opposite to the broken one. In this way, a birotor configuration with fixed propellers is achieved. The birotor is controlled to follow a planned emergency landing trajectory. Theory shows that the birotor can reach any point in the Cartesian space losing the possibility to control the yaw angle. Simulation tests are employed to validate the proposed controller design.

Keywords

aerospace control; aerospace robotics; aircraft landing guidance; autonomous aerial vehicles; control system synthesis; propellers; trajectory control; Cartesian space; backstepping approach; birotor configuration; emergency landing trajectory; propeller failure; quadrotor propeller; yaw angle control; Acceleration; Aerodynamics; Backstepping; Mathematical model; Propellers; Vectors; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on

Conference_Location

Chicago, IL

Type

conf

DOI

10.1109/IROS.2014.6943242

Filename

6943242