Fault tolerance analysis of a multirotor with 6DOF

JUAN I. GIRIBET; CLAUDIO POSE; IGNACIO MAS

Casablanca

Congreso; 4th International Conference on Control and Fault-Tolerant Systems (SysTol 2019); 2019

Several works have addressed the issue of ob-taining a six degree of freedom (6DOF) capable multirotor.However, the capability of keeping full control in the case of atotal failure in one of the rotors has not yet been analyzed.In this work, it is proven that eight is the minimum numberof rotors necessary to achive 6DOF control of a multirotor, inthe case of a total failure in one of them.Also, an octorotor configuration with 6DOF control capabil-ities in a failure situation is proposed and analyzed throughnumerical simulations, comparing its flight performance in anominal and a failure case