Analysis on the Attitude Kinematic Equation of a Quadcopter with Rotor Failure

Peng Fei Liu*, Yan Ding, Wei Zhong Zhang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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.

Original languageEnglish
Title of host publicationProceedings of the 36th Chinese Control and Decision Conference, CCDC 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5781-5786
Number of pages6
ISBN (Electronic)9798350387780
DOIs
Publication statusPublished - 2024
Event36th Chinese Control and Decision Conference, CCDC 2024 - Xi'an, China
Duration: 25 May 202427 May 2024

Publication series

NameProceedings of the 36th Chinese Control and Decision Conference, CCDC 2024

Conference

Conference36th Chinese Control and Decision Conference, CCDC 2024
Country/TerritoryChina
CityXi'an
Period25/05/2427/05/24

Keywords

  • attitude analysis
  • neural network
  • quadcopter
  • quaternion
  • spinning rigid body

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