Controllability Analysis and Degraded Control for a Class of Hexacopters Subject to Rotor Failures

This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated and its controllability matrix is row full rank. According to this, a fault tolerant control strategy is proposed to control a degraded system, where the yaw states of the considered hexacopter are ignored. Theoretical analysis indicates that the degraded system is controllable if and only if the maximum lift of each rotor is greater than a certain value. The simulation and experiment results on a prototype hexacopter show the feasibility of our controllability analysis and degraded control strategy.Comment: 21 pages, 7 figures, submitted to Journal of Intelligent & Robotic System

Shifted genus expanded W∞\cal{W}_{\infty} algebra and shifted Hurwtiz numbers

We construct the shifted genus expanded $\cal{W}_{\infty}$ algebra, which is isomorphic to the central subalgebra $\cal{A}_{\infty}$ of infinite symmetric group algebra and to the shifted Schur symmetrical function algebra $\Lambda^\ast$ defined by A. Y. Okounkov and G. I. Olshanskii. As an application, we get some differential equations for the generating functions of the shifted Hurwitz numbers, thus we can express the generating functions in terms of the shifted genus expanded cut-and-join operators.Comment: 16 pages, no figure, any comments welcome