Multirotor fault tolerance based on center-of-mass shifting in case of rotor failure

CLAUDIO POSE; GIRIBET, JUAN

Conferencia; 2021 International Conference on Unmanned Aircraft Systems (ICUAS); 2021

This work carries out an analysis on fault tolerance in multirotor vehicles, particularly for an hexarotor one, where such feature is achieved by shifting the center of mass in case of a motor failure. It will be shown that, for an hexarotor vehicle, for each of the possible motor failures, there exists an optimal fixed position for the center of mass, in order to keep independent control of four degrees of freedom, and to obtain the best maneuverability. The performance of this solution will be compared with a previous design based on motor reconfiguration in case of a motor failure.