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Title
Japanese:単一のロータ故障に対する耐故障性をもつUAVヘキサロータの実機検証 
English:Experimental Verification of the Fault-Tolerant Hexarotor for a Single Rotor Failure 
Author
Japanese: 照沼怜士, 持田峻佑, 伊吹竜也, 舩田陸, 三平満司.  
English: Reiji Terunuma, Shunsuke Mochida, Tasuya Ibuki, Riku Funada, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese: 
English: 
Volume, Number, Page        
Published date Nov. 12, 2022 
Publisher
Japanese: 
English: 
Conference name
Japanese:第65回自動制御連合講演会 
English: 
Conference site
Japanese:栃木県宇都宮市 
English: 
Abstract This paper presents experimental studies of a novel hexarotor Unmanned Aerial Vehicle(UAV), 2Y hexarotors having tolerance for any arbitrary single rotor fault. The 2Y hexarotor was previously proposed in one or our previous works, and we presented a structure that has high flight efficiency with fault tolerance to rotor failures. In this paper, we build a prototype and demonstrate the robustness and flight properties of the 2Y hexarotor. In particular, we newly decide design parameters of a 2Y hexarotor considering the limitation caused by our production process while fulfilling the required performance. Then, we propose the controller that makes the 2Y hexarotor hover even with a rotor failure. Finally, the fault tolerance of the designed 2Y hexarotor is verified in our experimental testbed.

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