Design and Implementation of a Development Platform for Indoor Quadrotor Flight Control

Research and development of flight control of quadrotor Unmanned Aerial Vehicles (UAVs) have gained popularity during the past few years due to their deployment flexibility and wide range of applications: agriculture, entertainment, cinematography, package delivery, search and rescue, etc. This thesis project follows up this interest aiming to...

Nonlinear Fault Tolerant Flight Control of a Quadrotor Vehicle subjected to Complete Loss of Two Rotors

Conventional controllers are incapable of controlling a rotor failed quadrotor in high speed flight. In this paper, a fault tolerant controller based on Incremental Nonlinear Dynamic Inversion is proposed to control a quadrotor subjected to the loss of two rotors. A pseudoinverse is used to control the roll and pitch rate to steer the average...