TY - GEN
T1 - Geometric Fault-Tolerant Control of Quadrotors in Case of Rotor Failures
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
AU - Yeom, Jennifer
AU - Li, Guanrui
AU - Loianno, Giuseppe
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control strategy for quadrotors that can adapt to single and dual complete rotor failures. Our approach augments a classic geometric tracking controller on SO(3)× R3 to accommodate the effects of rotor failures. We provide an in-depth analysis of several attitude error metrics to identify the most appropriate design choice for fault-tolerant control strategies. To assess the effectiveness of these metrics, we evaluate trajectory tracking accuracies. Simulation results demonstrate the performance of the proposed approach.
AB - The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control strategy for quadrotors that can adapt to single and dual complete rotor failures. Our approach augments a classic geometric tracking controller on SO(3)× R3 to accommodate the effects of rotor failures. We provide an in-depth analysis of several attitude error metrics to identify the most appropriate design choice for fault-tolerant control strategies. To assess the effectiveness of these metrics, we evaluate trajectory tracking accuracies. Simulation results demonstrate the performance of the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=85175139938&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85175139938&partnerID=8YFLogxK
U2 - 10.1109/IROS55552.2023.10341669
DO - 10.1109/IROS55552.2023.10341669
M3 - Conference contribution
AN - SCOPUS:85175139938
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4974
EP - 4980
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 October 2023 through 5 October 2023
ER -