Geometric Fault-Tolerant Control of Quadrotors in Case of Rotor Failures: An Attitude Based Comparative Study
Jennifer Yeom,Guanrui Li,Giuseppe Loianno,Jennifer Yeom,Guanrui Li,Giuseppe Loianno
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control strategy for quadrotors that can adapt to single and dual complete rotor failures. Our approach augments a classic geometric tracking controller on $S{O}(3)\time...
