Quadrotor loss of control prediction after single rotor failure
T. Hoppenbrouwer (TU Delft - Aerospace Engineering)
C.C. de Visser – Mentor (TU Delft - Aerospace Engineering)
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Abstract
Upon rotor loss, fault-tolerant quadrotors are subjected to a severe restriction of the set of attainable virtual controls, making them vulnerable to loss of control at high speed flight. Due to the high nonlinearity of the reduced attitude controller and incremental nature of the fault-tolerant controller, determination of the safe flight envelope is exceedingly complex. To prevent loss-of-control, a novel method is presented to detect stability degradation due to actuator saturation that can provide an early warning of the onset of loss-of-control. This research presents an analysis of the effects of actuator dynamics and rotor saturation on the stability of fault-tolerant quadrotor control. Expanding on this analysis, a method is presented to predict loss-of-control, prior to its occurrence.