NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916660561051648 |
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| author | Salagame, Adarsh Pandya, Shashwat Mandralis, Ioannis Sihite, Eric Ramezani, Alireza Gharib, Morteza |
| author_facet | Salagame, Adarsh Pandya, Shashwat Mandralis, Ioannis Sihite, Eric Ramezani, Alireza Gharib, Morteza |
| contents | Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event of an actuator failure is necessary for the fault-tolerant and safe operation of unmanned aerial robots. In this work, we present a fault recovery approach based on the unification of posture manipulation and thrust vectoring. The key contributions of this work are: 1) Derivation of two flight dynamics models (high-fidelity and reduced-order) that capture posture control and thrust vectoring. 2) Design of a controller based on Nonlinear Model Predictive Control (NMPC) and demonstration of fault recovery in simulation using a high-fidelity model of the Multi-Modal Mobility Morphobot (M4) in Simscape. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_18307 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery Salagame, Adarsh Pandya, Shashwat Mandralis, Ioannis Sihite, Eric Ramezani, Alireza Gharib, Morteza Robotics Systems and Control Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event of an actuator failure is necessary for the fault-tolerant and safe operation of unmanned aerial robots. In this work, we present a fault recovery approach based on the unification of posture manipulation and thrust vectoring. The key contributions of this work are: 1) Derivation of two flight dynamics models (high-fidelity and reduced-order) that capture posture control and thrust vectoring. 2) Design of a controller based on Nonlinear Model Predictive Control (NMPC) and demonstration of fault recovery in simulation using a high-fidelity model of the Multi-Modal Mobility Morphobot (M4) in Simscape. |
| title | NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.18307 |