Achieving Complete UAV Delivery in the Presence of Motor Failures

Abstract

This paper addresses a redundant flight recovery system (RFRS) in unmanned aerial vehicles (UAV) specifically applied for octocopter delivery or courier applications. RFRS implements a state diagram to allow octocopters to be fault-tolerant during motor breakdown or switches to less-energy mode consumption after package delivery. Conventional linear and nonlinear controllers are employed in achieving complete flight and landing stability of the UAV. Empirical experiments have confirmed the feasibility of RFRS being implemented in an octocopter platform.