Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors

In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (>8 m/s). The incremental nonlinear dynamic inversion approach which excels in handling model...

High-Speed Flight of Quadrotor Despite Loss of Single Rotor

In order to achieve high-speed flight of a damaged quadrotor with complete loss of a single rotor, a multiloop hybrid nonlinear controller is designed. By fully making use of sensor measurements, the model dependence of this control method is reduced, which is conducive to handling disturbance from the unknown aerodynamic effects. This...