Control and stabilization of quadcopters subjected to propeller failures

IF 5.2 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2025-08-16 DOI:10.1016/j.robot.2025.105162

Junio Santos Bulhões , Cristiane Lopes Martins , Viviane M. Gomes Pacheco , Alana da Silva Magalhães , Clóves Gonçalves Rodrigues , Antonio Paulo Coimbra , Wesley Pacheco Calixto

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引用次数: 0

Abstract

This work develops an auxiliary control system based on sliding mode control in order to stabilize quadcopters in the event of propeller failures, a significant challenge in the operation of unmanned aircraft. The proposed approach includes the implementation of modern control techniques, extensively tested in both a nonlinear simulator and a testing platform, allowing the reproduction of scenarios with up to 30% power loss in one of the motors. The combination of detailed simulations and practical experiments demonstrates the efficiency of sliding mode control, which is able to mitigate the effects of failures by reducing deviations in the

ϕ

and

θ

angles by more than 80% at the initial moments and maintaining partial stability of the angle

ψ

. In addition to surpassing other approaches in terms of efficiency, the proposed method preserves the aircraft’s autonomy, offering a robust and practical solution for application in real operational environments, ensuring greater safety and reliability in quadcopter control.

Abstract Image

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控制和稳定的四轴飞行器受到螺旋桨故障

这项工作开发了一种基于滑模控制的辅助控制系统，以便在螺旋桨失效的情况下稳定四轴飞行器，这是无人驾驶飞机运行中的一个重大挑战。所提出的方法包括实施现代控制技术，在非线性模拟器和测试平台上进行了广泛的测试，允许在一个电机中再现高达30%功率损失的场景。详细的仿真和实际实验的结合证明了滑模控制的有效性，它能够通过在初始时刻将φ和θ角的偏差减少80%以上并保持角ψ的部分稳定性来减轻故障的影响。除了在效率方面超越其他方法外，所提出的方法保留了飞机的自主性，为实际操作环境中的应用提供了强大而实用的解决方案，确保了四轴飞行器控制的更高安全性和可靠性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.