High-Speed Flight of Quadrotor Despite Loss of Single Rotor
Sihao Sun (Student TU Delft)
Leon Sijbers (Student TU Delft)
Xuerui Wang (TU Delft - Aerospace Engineering)
Coen de Visser (TU Delft - Aerospace Engineering)
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Abstract
In order to achieve high-speed flight of a damaged quadrotor with complete loss of a single rotor, a multiloop hybrid nonlinear controller is designed. By fully making use of sensor measurements, the model dependence of this control method is reduced, which is conducive to handling disturbance from the unknown aerodynamic effects. This controller is tested on a quadrotor vehicle with one rotor completely removed in the high-speed condition. Free flights are performed in the Open Jet Facility, a large-scale wind tunnel. Over 9 m/s flight speed is reached for the damaged quadrotor in these tests. In addition, several high-speed spin-induced aerodynamic effects are discovered and analyzed.