Mr. Zhe Shen Profile

Zhe Shen

at Univ of Tokyo

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Proceedings Article | 31 May 2022 Presentation + Paper

Quad-cone-rotor: a novel tilt quadrotor with severe-fault-tolerant ability

Zhe Shen, Yudong Ma, Takeshi Tsuchiya

Proceedings Volume 12124, 1212403 (2022) https://doi.org/10.1117/12.2618468

KEYWORDS: Analytical research, Unmanned aerial vehicles, Kinematics, Simulink, Servomechanisms, MATLAB, Process modeling, Mathematical modeling

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Conventional quadrotors received great attention in trajectory design and fault-tolerant control in these years. The direction of each thrust is perpendicular to the body because of the geometrics in mechanical design. Comparing with the conventional quadrotor, a novel quadrotor named quad-tilt-rotor brings better freedom in manipulating the thrust vector. Quad-tilt-rotor augments the additional degrees of freedom in the thrust, providing the possibility of violating the normal direction of the thrust in the conventional quadrotor. This provides the ability of greater agility in control. This paper presents a novel design of a quad-tilt-rotor (quad-cone-rotor) whose thrust can be assigned along the edge of a cone shape. Besides the inheriting merits in agile from quad-tilt-rotor, the quad-cone-rotor is expected to take fault-tolerant control in the severe dynamic failure (total loss in all thrusts). We simulate the control result in a UAV simulator in SIMULINK, MATLAB.

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