IAM   02674
INSTITUTO ARGENTINO DE MATEMATICA ALBERTO CALDERON
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Hexacopter fault tolerant actuator allocation analysis and design for minimum lateral drift
Autor/es:
JUAN GIRIBET; ALEJANDRO GHERSIN; POSE CLAUDIO
Reunión:
Congreso; ReuniĆ³n de Procesamiento de la InformaciĆ³n y Control; 2015
Resumen:
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.