Recoverable set computation for post-fault/failure quadrotors based on sum of squares (SOS)
Résumé
In this paper, an evaluation approach of recoverable performance for post-fault quadrotors is investigated. Both propeller faults and failures are considered, such as loss of partial propeller effectiveness and loss of one or more propellers. The main contribution is to propose a method to compute recoverable set for different faulty conditions using sum of squares (SOS). The recoverable set is an invariant set and it is the set of initial states, which can be driven to the equilibrium point while respecting propeller faults, failures and rotating speed limits. Before computing the set, feasible equilibrium points are calculated to guarantee relaxed hover solutions against different faulty cases. Simulations illustrate the effectiveness of proposed approach with nonlinear quadrotor dynamics under various fault and failure conditions.