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Emergency Control of a Quadrocopter in Case of Failure of Two Symmetric Propellers

  • Control in Technical Systems
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Abstract

In this work, we simulate the motion of a quadcopter when two symmetric propellers fail and the full thrust is gradually decreasing on each of the remaining propellers. Applying a control obtained in standard mode leads to the flying vehicle falling down. We pose and solve the problem of synthesizing a bounded control law that lets one land the flying vehicle. We consider numerical modeling problems that arise in the implementation of the proposed mathematical model of a quadcopter.

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Authors and Affiliations

  1. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia

    Yu. V. Morozov

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  1. Yu. V. Morozov
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Correspondence to Yu. V. Morozov.

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Original Russian Text © Yu.V. Morozov, 2018, published in Avtomatika i Telemekhanika, 2018, No. 3, pp. 92–110.

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Morozov, Y.V. Emergency Control of a Quadrocopter in Case of Failure of Two Symmetric Propellers. Autom Remote Control 79, 463–478 (2018). https://doi.org/10.1134/S0005117918030062

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