Incremental fault-tolerant control for a hybrid quad-plane UAV subjected to a complete rotor loss

Quad-plane is a popular type of electric vertical and takeoff/landing (eVTOL) vehicle that hybridizes a quadrotor and a fixed-wing airplane. However, the mechanical simplicity of a quad-plane also makes it vulnerable to rotor failures. When a complete rotor fails, it becomes physically impossible to stop the quad-plane from fast yaw spinning,...