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Fundamental Actuation Properties of Multirotors: Force–Moment Decoupling and Fail–Safe Robustness
Open accessAbstract
In this paper, we shed light on two fundamental actuation capabilities of multirotors. The first is the degree of coupling between the total force and total moment generated by the propellers. The second is the ability to robustly fly completely still in place after the loss of one or more propellers, in the case of mono-directional propellers. These are formalized through the definition of some algebraic conditions on the control allocation matrices. The theory is valid for any multirotor, with arbitrary number, position, and orientation of the propellers. As a show case for the general theory, we demonstrate that standard star-shaped hexarotors with collinear propellers are not able to robustly fly completely still at a constant spot using only five of their six propellers. To deeply understand this counterintuitive result, it is enough to apply our theory, which clarifies the role of the tilt angles and locations of the propellers. The theory is also able to explain why, on the contrary, both the tilted star-shaped and the Y-shaped hexarotors can fly with only five out of six propellers. The analysis is validated with both simulations and extensive experimental results showing recovery control after rotor losses.
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This approach allows relaxing the constraint on obstacle avoidance to guarantee feasible solutions in tight situations by introducing a penalty term in the objective function (6a).
“Similarly to [22], [23], this approach allows relaxing the constraint on the obstacle avoidance to guarantee feasible solutions in tight situations by introducing a penalty term in the objective function (6a), i.e., ‖ s j ‖ 2 Q 2 .”
From A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV (2022) · cites this paper as [22]
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Dmytruk, A., Silano, G., Bicego, D., Licea, D. B., & Saska, M. (2022) · 2022 International Conference on Unmanned Aircraft Systems (ICUAS) · doi:10.1109/icuas54217.2022.9836071 · Cited by 8
“Let us consider a GTMR model [21], composed of a rigid body and n ∈ R>0 propellers that spin about a generically oriented axis with fixed but arbitrary orientations.”
BackgroundMethodInfluential
Metadata
- Authors
- Michieletto, G., Ryll, M., & Franchi, A.
- Affiliations
- Centre National de la Recherche Scientifique (FR)
- Venue
- IEEE Transactions on Robotics
- Published
- 2018-06
- Volume
- 34
- Issue
- 3
- Pages
- 702-715
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2769180486
- Cited by
- 107
- References
- 0
- Citations by year
- 2026: 10 · 2025: 10 · 2024: 10 · 2023: 15 · 2022: 12 · 2021: 18 · 2020: 23 · 2019: 6 · 2018: 3
- FWCI
- 7.74
- Type
- journal article
- Language
- en
- Open access
- green
- hal.laas.fr
- Locations
- IEEE Transactions on Robotics (publishedVersion)
- HAL (submittedVersion, other-oa)
- IRIS Research product catalog (Sapienza University of Rome) (submittedVersion)
- Padua Research Archive (University of Padova) (submittedVersion)
- Funders
- European Unions Horizon 2020 research and innovation program (644271)
- Eiffel Excellence Scholarship Programme of the French Ministry of Foreign Affairs and International Development
- German Research Foundation
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Aerospace Engineering › Aerospace and Aviation Technology
- Physical Sciences › Engineering › Aerospace Engineering › Aerospace Engineering and Control Systems
- Keywords
- multirotor, control allocation, hexarotor, recovery control
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