In this work, we simulate the motion of a quadcopter when two symmetric propellers fail and the full thrust is gradually decreasing on each of the remaining propellers. Applying a control obtained in standard mode leads to the flying vehicle falling down. We pose and solve the problem of synthesizing a bounded control law that lets one land the flying vehicle. We consider numerical modeling problems that arise in the implementation of the proposed mathematical model of a quadcopter.
Automation and Remote Control – Springer Journals
Published: Mar 12, 2018
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