@inproceedings{51b6463694074ff28c1c3ed06bd35aea,
title = "Analysis on the Attitude Kinematic Equation of a Quadcopter with Rotor Failure",
abstract = "The challenge of fault-tolerant control (FTC) method for a quadcopter is that it is difficult to maintain full control of arbitrary states with rotor failure. In this paper, an attitude motion analysis method is proposed to explain the rationality of sacrificing the controllability of the yaw state from a mathematical perspective. Firstly, a model transformation method is proposed, which reformulates the problem as the attitude motion of a rigid body under torque disturbances in the spin-stable state. Secondly, a neural network-based method for solving the attitude kinematic equation of a spinning rigid body is proposed. Finally, the results of numerical experiments reveal a phenomenon wherein the numerical solution takes on a trigonometric form when the system is in the spin-stable state.",
keywords = "attitude analysis, neural network, quadcopter, quaternion, spinning rigid body",
author = "Liu, {Peng Fei} and Yan Ding and Zhang, {Wei Zhong}",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 36th Chinese Control and Decision Conference, CCDC 2024 ; Conference date: 25-05-2024 Through 27-05-2024",
year = "2024",
doi = "10.1109/CCDC62350.2024.10587843",
language = "English",
series = "Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5781--5786",
booktitle = "Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024",
address = "United States",
}