Controllability Analysis for Multirotor Helicopter Rotor Degradation and Failure

被引：55

作者：

Du, Guang-Xun ^{[1
]}

Quan, Quan ^{[1
]}

Yang, Binxian ^{[1
]}

Cai, Kai-Yuan ^{[1
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

来源：

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 2015年 / 38卷 / 05期

基金：

中国国家自然科学基金;

关键词：

TOLERANT; DESIGN;

D O I：

10.2514/1.G000731

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

A study is conducted to perform controllability analysis for multirotor helicopter rotor degradation and failure. The study analyzes the control reconfigurability for multirotor systems from the controllability analysis point of view. The linear dynamic model of the considered multirotor helicopters around hover conditions is derived first and the control constraint is specified. It is pointed out that classical controllability theories of linear systems are not sufficient to test the controllability of the derived model. An Available Control Authority Index (ACAI) is introduced to quantify the available control authority of the considered multirotor systems and make the required conditions easy to test in practice.

引用

页码：978 / 984

页数：7

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