Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances
Sihao Sun,Matthias Baert,Bram Strack van Schijndel,Coen de Visser,Sihao Sun,Matthias Baert,Bram Strack van Schijndel,Coen de Visser
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a position/altitude controller, an almost-global convergence attitude controller, and a control allocation method based on quadratic programming. As a major novelty, a cons...
