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Experimental Validation of a Fault Tolerant Hexacopter with Tilted Rotors

Juan I. Giribet 1,2, Claudio D. Pose 1, Alejandro S. Ghersin 2,3, and Ignacio Mas 2,4
1. Grupo de Procesamiento de Señales, Identificación y Control (GPSIC), Departamento de Ingeniería Electrónica, Facultad de Ingeniería Universidad de Buenos Aires (FIUBA), Argentina
2. Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET), Argentina
3. Departamento de Ingeniería Electrónica, Instituto Tecnológico de Buenos Aires (ITBA), Argentina
4.Centro de Sistemas y Control (CeSyC), Departamento de Matemática, ITBA

Abstract—Recently, research reporting the advantages of flying with tilted-motor multicopters has surfaced. Particularly, it has been theoretically proven that in the case of a complete failure of one of the motors in a hexagon-shaped hexacopter, complete altitude and attitude control can be maintained. In this work, these theoretical results are experimentally validated.
Index Terms—fault tolerance, multirotor vehicles, unmanned aerial vehicles

Cite: Juan I. Giribet, Claudio D. Pose, Alejandro S. Ghersin, and Ignacio Mas, "Experimental Validation of a Fault Tolerant Hexacopter with Tilted Rotors," International Journal of Electrical and Electronic Engineering & Telecommunications, Vol. 7, No. 2, pp. 58-65, January 2018. Doi: 10.18178/ijeetc.7.2.58-65