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Title
Japanese:ヘキサロータ型UAVのロータ故障に対するリカバリー可能性と機体重心位置の解析 
English:Recoverability Analysis for Rotor Failure of Hexrotor UAVs Based on Center of Mass 
Author
Japanese: 松田 練磨, 伊吹 竜也, 三平 満司.  
English: Renma Matsuda, Tatsuya Ibuki, Mitsuji Sampei.  
Language Japanese 
Journal/Book name
Japanese:第5回制御部門マルチシンポジウム予稿集 
English: 
Volume, Number, Page         pp. 323-328
Published date Mar. 8, 2018 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第5回制御部門マルチシンポジウム 
English: 
Conference site
Japanese:東京 
English: 
Abstract This paper presents a novel structure of hexrotor unmanned aerial vehicles which is fault tolerant against rotor failure. First, we define two types of hexrotors: Normal Hexrotor, and Variable CoM Hexrotor whose center of mass position (CoM) is movable during flight. Then, a fault-tolerance analysis method is presented based on existence of equilibria and controllability of linearized systems. Third, we prove that Variable CoM Hexrotor is fault tolerant due to its mechanical property nevertheless Normal Hexrotor is not. Finally, numerical simulations are conducted to validate the fault-tolerance analysis of Variable CoM Hexrotor.

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