Control of Quadrotors in Case of a Propeller Failure

Fabio Ruggiero developed control techniques to deal with a partial or complete failure of a quadrotor's propellers. The proposed control techniques suppose to turn off also the motor which is opposite to the broken one. In this way, a birotor configuration with fixed propellers is achieved. The birotor is hence controlled to follow a planned emergency trajectory.

Proposed solutions:

• V. Lippiello, F. RUGGIERO, D. Serra, Emergency landing for a quadrotor in case of a propeller failure: A backstepping approach, 12th IEEE International Symposium on Safety, Security and Rescue Robots, Toyako-Cho, Hokkaido, J, 2014, DOI: 10.1109/SSRR.2014.7017647.
• V. Lippiello, F. RUGGIERO, D. Serra, Emergency landing for a quadrotor in case of a propeller failure: A PID approach, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, pp. 4782-4788, 2014, DOI: 10.1109/IROS.2014.6943242.
• F. RUGGIERO, D. Serra, V. Lippiello, B. Siciliano, Control techniques to deal with the damage of a quadrotor propeller, in Fault Diagnosis and Fault-tolerant Control of Robotic and Autonomous Systems, A. Monteriu et al. (eds.), vol. 126, pp. 25-42, The Institution of Engineering and Technology, 2020. DOI: 10.1049/PBCE126E_ch2.