Several works have addressed the issue of fault tolerance in multirotors in case of a rotor total failure, particularly their ability to keep full independent control of attitude and altitude. It has been proven that to achieve this, a minimum of six rotors is needed. In this article, the performance of several standard and nonstandard hexarotor structures is analyzed, both for a nominal case (without failure) and in the case where one of the actuators is under failure (incapability to exert thrust). The performance is shown in terms of maximum rotational torque and vertical force that the vehicle can exert. The main contribution of this article is the proposal and analysis of converting these vehicles into reconfigurable ones through the addition of a minimum number of servomotors, to deal with failures and to greatly improve the maneuverability under these conditions, in order to identify the reconfigurable structure with the best performance. An experimental demonstration in an outdoor environment is shown for the proposed reconfigurable structure with best performance in case of a full rotor failure.

中文翻译：

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一类可重构六旋翼飞行器容错分析


一些工作已经解决了多旋翼飞行器在旋翼完全失效的情况下的容错问题，特别是它们保持完全独立控制姿态和高度的能力。事实证明，要实现这一目标，至少需要六个转子。在本文中，分析了几种标准和非标准六旋翼结构的性能，包括标称情况（无故障）和其中一个执行器发生故障（无法施加推力）的情况。性能以车辆可以施加的最大旋转扭矩和垂直力来表示。本文的主要贡献是提出并分析了通过添加最少数量的伺服电机将这些车辆转换为可重构车辆，以处理故障并大大提高这些条件下的机动性，以确定可重构结构最好的表现。在室外环境中进行的实验演示表明，所提出的可重构结构在整个转子故障的情况下具有最佳性能。