Skip to Main content Skip to Navigation
Conference papers

Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors

Giulia Michieletto 1, 2 Markus Ryll 2 Antonio Franchi 2
2 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Standard hexarotors are often mistakenly considered 'by definition' fail-safe multi-rotor platforms because of the two additional propellers when compared to quadrotors. However this is not true, in fact, a standard hexarotor cannot statically hover with 'only' five propellers. In this paper we provide a set of new general algebraic conditions to ensure static hover for any multi-rotor platform with any number of generically oriented rotors. These are elegantly formulated as the full-rankness of the control moment input matrix, and the non-orthogonality between its null-space and the row space of the control force input matrix. Input saturations and safety margins are also taken into account with an additional condition on the null-space of control moment input matrix. A deep analysis on the hoverability properties is then carried out focusing on the propeller loss in a hexarotor platform. Leveraging our general results we explain why a standard hexarotor is not robust and how it can be made robust thanks to a particular tilt of the rotors. We finally propose a novel cascaded controller based on a preferential direction in the null-space of the control moment input matrix for the large class of statically hoverable multi-rotors, which goes far beyond standard platforms, and we apply this controller to the case of failed tilted hexarotor.
Document type :
Conference papers
Complete list of metadata
Contributor : Antonio Franchi <>
Submitted on : Saturday, February 25, 2017 - 10:06:21 PM
Last modification on : Thursday, June 10, 2021 - 3:06:36 AM
Long-term archiving on: : Friday, May 26, 2017 - 12:22:02 PM


Files produced by the author(s)


  • HAL Id : hal-01476816, version 1


Giulia Michieletto, Markus Ryll, Antonio Franchi. Control of Statically Hoverable Multi-Rotor Aerial Vehicles and Application to Rotor-Failure Robustness for Hexarotors. 2017 IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. 6p. ⟨hal-01476816⟩



Record views


Files downloads