Hexacopter fault tolerant actuator allocation analysis and design for minimum lateral drift

JUAN GIRIBET; ALEJANDRO GHERSIN; POSE CLAUDIO

Congreso; Reunión de Procesamiento de la Información y Control; 2015

Based upon a fault tolerant ac- tuator allocation design previously proposed for an hexagon shaped six rotor micro aerial vehicle, an analysis of the lateral forces ex- erted by the vehicle in case of failure in one ro- tor is carried out. An algorithm is proposed, which minimizes the lateral force exerted on the vehicle so that the lateral drift of the ve- hicle while hovering is minimum. The result is illustrated with simulations which compare this algorithm with previously presented re- sults where the fault tolerant actuator alloca- tion method is merely based upon the Moore- Penrose pseudoinverse. Conclusions from the simulations are drawn.