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Controllability and Design of Unmanned Multirotor Aircraft Robust to Rotor Failure

Kim, Kyunam and Rahili, Salar and Shi, Xichen and Chung, Soon-Jo and Gharib, Morteza (2019) Controllability and Design of Unmanned Multirotor Aircraft Robust to Rotor Failure. In: AIAA Scitech 2019 Forum, 7-11 January 2019, San Diego, CA. https://resolver.caltech.edu/CaltechAUTHORS:20190109-131619062

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Abstract

A new design method for multi-rotor aircraft with distributed electric propulsion is presented to ensure a property of robustness against rotor failure from the control perspective. Based on the concept of null controllability, a quality measure is derived to evaluate and quantify the performance of a given design with the consideration of rotor failure. An optimization problem whose cost function is based on the quality measure is formulated and its optimal solution identifies a set of optimal design parameters that maximizes an aircraft’s ability to control its attitude and hence its position. The effectiveness of the proposed design procedure is validated through the results of experimentation with the Autonomous Flying Ambulance model being developed at Caltech’s Center for Autonomous Systems and Technologies.


Item Type:Conference or Workshop Item (Paper)
Related URLs:
URLURL TypeDescription
https://doi.org/10.2514/6.2019-1787DOIArticle
ORCID:
AuthorORCID
Kim, Kyunam0000-0002-7803-1582
Chung, Soon-Jo0000-0002-6657-3907
Gharib, Morteza0000-0002-2204-9302
Additional Information:© 2019 AIAA. AIAA Paper 2019-1787. This work was in part funded by Caltech’s Center for Autonomous Systems and Technologies and AeroVironment, Inc. The authors would like to thank Reza Nemovi and Amarbold Batzorig for their help with experiments.
Group:GALCIT, Center for Autonomous Systems and Technologies (CAST)
Funders:
Funding AgencyGrant Number
Center for Autonomous Systems and TechnologiesUNSPECIFIED
AeroVironmentUNSPECIFIED
Other Numbering System:
Other Numbering System NameOther Numbering System ID
AIAA Paper2019-1787
Record Number:CaltechAUTHORS:20190109-131619062
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190109-131619062
Official Citation:Controllability and Design of Unmanned Multirotor Aircraft Robust to Rotor Failure. Kyunam Kim, Salar Rahili, Xichen Shi, Soon-Jo Chung, and Morteza Gharib. AIAA Scitech 2019 Forum. San Diego, California
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92174
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:09 Jan 2019 22:38
Last Modified:03 Oct 2019 21:32

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