Reconfigurability Analysis of Multirotor UAVs under Actuator Faults

This paper presents a reconfigurability analysis for different multirotor structures. The aim is to determine whether the multirotor is able to continue the mission without losing its controllability when faults occur in its actuators. The classical controllability condition is not enough in these systems. Hence two complementary methodologies have been developed to analyse the controllability of the multirotors: Analysis of the Static Reconfiguration Module (ASRM) and Attainable Control Set (ACS).