This chapter can be considered a tutorial to guide the readers toward the implementation of active fault-tolerant control systems dealing with the damage of a propeller of an unmanned aerial vehicle. The addressed aerial device is a quadrotor with fixed propellers. The presented methodology also supposes to turn off the motor, the opposite of the broken one. In this way, a birotor configuration with fixed propellers is achieved. State-of-the-art approaches, using a PID-based controller and a backstepping controller, are presented in a tutorial form, thus neglecting the stability proofs, to leave room to a fast and concise description of the implementation procedures.

Control techniques to deal with the damage of a quadrotor propeller

Ruggiero, Fabio
;
Serra, Diana;Lippiello, Vincenzo;Siciliano, Bruno
2020

Abstract

This chapter can be considered a tutorial to guide the readers toward the implementation of active fault-tolerant control systems dealing with the damage of a propeller of an unmanned aerial vehicle. The addressed aerial device is a quadrotor with fixed propellers. The presented methodology also supposes to turn off the motor, the opposite of the broken one. In this way, a birotor configuration with fixed propellers is achieved. State-of-the-art approaches, using a PID-based controller and a backstepping controller, are presented in a tutorial form, thus neglecting the stability proofs, to leave room to a fast and concise description of the implementation procedures.
9781785618307
9781785618314
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/814923
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