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Pré-Publication, Document De Travail Année : 2023

Controllability assessment and fault-tolerant sizing of UAVs under effector failures

Résumé

This article presents a methodology for analyzing the controllability and fault-tolerant sizing of fixed-wing and hybrid fixed-wing vertical landing and takeoff (FW-VTOL) unmanned aerial vehicles (UAVs). Building upon previous research focused on multirotor UAVs, the study introduces a new control authority index, redefined dynamics models, and enhanced control allocation techniques to address rotor failures and lock-in-place failures of control surfaces. The methodology considers effector limitations and the unidirectional drag condition for control surface deflection angles. These advancements are combined to assess the linear controllability and accomplish fault-tolerant sizing of UAVs. By applying the proposed methodology to a case study, the linear controllability of fixed-wing and hybrid FW-VTOL UAVs is evaluated in various failure scenarios. The results demonstrate that the hybrid FW-VTOL concept exhibits higher fault tolerance capability due to the presence of VTOL rotors that can compensate for control surface failures. The study emphasizes the importance of oversizing VTOL rotors to ensure sufficient control authority in double failure scenarios, revising the conventional assumption that VTOL system sizing primarily relies on takeoff analysis. The proposed advancements are relevant to future UAV designs intended for fault-tolerant applications such as medical equipment transport and air taxis.
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Dates et versions

hal-04659651 , version 1 (23-07-2024)

Identifiants

  • HAL Id : hal-04659651 , version 1

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F Pollet, Jonathan Liscouët, Marc Budinger, Scott Delbecq, Jean-Marc Moschetta. Controllability assessment and fault-tolerant sizing of UAVs under effector failures. 2023. ⟨hal-04659651⟩
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