A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is
Emergency landing for a quadrotor in case of a propeller failure: A PID based approach
2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)
A controller dealing with the failure of a quadrotor's motor is presented in this paper. Supposing that the failure has been already detected by the system, the quadrotor is modelled as a birotor with fixed propellers and it is controlled to follow a planned emergency landing trajectory. Theory shows that, in such a configuration, the aerial vehicle is allowed to reach any position in the Cartesian space dropping the possibility to control the yaw angle. Simulations are presented to confirm the presented methodology.doi:10.1109/ssrr.2014.7017647 dblp:conf/ssrr/LippielloRS14 fatcat:4zmzhd75mzeplelyy54rob4jiu