Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events

Fault-Tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-Art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on external sensors, such as GPS or motion capture systems, for state estimation. To the best of our knowledge...

Advanced Flight Control Design and Evaluation: An application of time delayed Incremental Backstepping

The sensor-based approach of Incremental Backstepping is applied to flight control law design in this research project. It allows the usage of the same control law on different types of aircraft without the need for redesign. Apart from full state availability, the derivation of Incremental Backstepping assumes instantaneous control action. Due...