Kavli Affiliate: Morteza Gharib
| First 5 Authors: Adarsh Salagame, Shashwat Pandya, Ioannis Mandralis, Eric Sihite, Alireza Ramezani
| Summary:
Multi-rotors face significant risks, as actuator failures at high altitudes
can easily result in a crash and the robot’s destruction. Therefore, rapid
fault recovery in the event of an actuator failure is necessary for the
fault-tolerant and safe operation of unmanned aerial robots. In this work, we
present a fault recovery approach based on the unification of posture
manipulation and thrust vectoring. The key contributions of this work are: 1)
Derivation of two flight dynamics models (high-fidelity and reduced-order) that
capture posture control and thrust vectoring. 2) Design of a controller based
on Nonlinear Model Predictive Control (NMPC) and demonstration of fault
recovery in simulation using a high-fidelity model of the Multi-Modal Mobility
Morphobot (M4) in Simscape.
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