Feedback linearization approach to fault tolerance for a micro quadrotor

摘要

Maintaining the proper operation of a flying object, such as a micro-quadrotor, despite the loss of one rotor is of crucial importance in the case of unmanned flying robots. Therefore, the purpose of the present work is to design a controller to address this issue. Based on the Fault Tolerant Control (FTC) method, the proposed design uses inner and outer rings to efficiently maintain the balance and roll, pitch, and yaw angles as well as the altitude of a quadrotor flying robot after the loss of a rotor.