Emergency Soft Landing Trajectory Design for Multi-Rotor Vehicles Under Rotor Failures

초록

Urban Air Mobility (UAMs) are considered advantageous and promising for sustainable aviation, and the UAMs are being widely studied for academic research and commercialization purpose. Since the UAMs are expected to be operated mainly in highly populated urban areas, these malfunctions may cause severe property losses or even human casualties. For successful commercialization of the UAM industries, high reliable fault management techniques are essential to ensure the safety of the passengers, vehicles, and infrastructures. In this paper, we proposed an emergency landing trajectory replanning algorithm for rotor failure cases. And we verified the performance of the algorithm via a series of nonlinear 6-DOF simulations, and the possibility of designing a trajectory that satisfies the limiting conditions was confirmed under different landing conditions. As a result, it was shown that the proposed algorithm successfully generates the emergency landing trajectories under rotor failures. The fault tolerant control algorithm studied in this paper is expected to contribute to expanding the operational area of the urban air traffic system and enhancing stability.

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