2014
DOI: 10.2514/1.59869
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Flight Control of a Quadrotor Vehicle Subsequent to a Rotor Failure

Abstract: In this paper, the problemof designingacontrol lawincase ofrotor failure inquadrotor vehiclesis addressed. First, a nonlinear mathematical model for a quadrotor vehicle is derived, which includes translational and rotational dynamics. Then a robust feedback linearization controller isdeveloped, which sacrifices the controllability ofthe yaw state due to rotor failure to linearize the closed-loop system around a working point, where roll and pitch angles are zero and the angular speed around the vertical axis i… Show more

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Cited by 146 publications
(75 citation statements)
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“…Based on an adaptive feedback linearization technique, the authors of [10] and [11] proposed the autonomous fault recovery schemes for a quadrotor in the presence of a certain fault in only one actuator and multiple faults in the actuators, respectively. With the use of a double control loop architecture, the control problem in case of failure of one rotor was addressed for the quadrotor aircraft, where the inner control loop handled the failure of one rotor, and the outer control loop enabled the vehicle to land safely at an arbitrary location [12].…”
Section: Introductionmentioning
confidence: 99%
“…Based on an adaptive feedback linearization technique, the authors of [10] and [11] proposed the autonomous fault recovery schemes for a quadrotor in the presence of a certain fault in only one actuator and multiple faults in the actuators, respectively. With the use of a double control loop architecture, the control problem in case of failure of one rotor was addressed for the quadrotor aircraft, where the inner control loop handled the failure of one rotor, and the outer control loop enabled the vehicle to land safely at an arbitrary location [12].…”
Section: Introductionmentioning
confidence: 99%
“…An equidistant trirotor is taken into account in [20], but the designed control law is valid only for spiral motions. A safety landing of a quadrotor with a propeller failure is adopted in [21] through a H-infinity loop shaping method. A LQR controller is exploited in [22] for periodic solutions in case of single, two opposite and three propellers failure.…”
Section: Introductionmentioning
confidence: 99%
“…Most recently, Lanzon et al . in applied a robust feedback linearization method to deal with a rotor failure in quad‐rotor vehicles. In authors proposed two passive fault tolerant controllers based on sliding mode control theory for the attitude control of a quad‐rotor with two different types of actuator faults.…”
Section: Introductionmentioning
confidence: 99%