Emergency landing for a quadrotor in case of a propeller failure: A PID based approach

Vincenzo Lippiello, Fabio Ruggiero, Diana Serra
2014 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