Automation and Autonomous Systems

Abstract

This paper proposed the solution for a quadcopter to maintain a height in space inspite of having a single, two or three propellers damaged. For each of the case strategy relies on the spinning of the quadcopter a few primary axis, mounted with regard to the vehicle, and tilting this axis for travel management. The results of the cases with propellers damaged (lost) are validated with experiment, whereas the case with three propellers lost is validated using non-linear simulation. These results found applications in fault tolerant control design of multicopter. Two differing types of approach for mathematical modeling of quadcopter: mechanics and dynamics area unit conferred. Mechanics relies on the equations the mechanics and also the different one comes from Denavit-Hartenberg formalism and Lagrangian mechanics. These models were antecedently utilized in dominant the motion of the quadcopter. The obtained models were wont to style the management of the on one rotation axis.

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