Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors

In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller stabilize quadrotor with failure two opposing rotors in high-speed condition (>8 m/s). The incremental dynamic inversion approach which excels handling model uncertainties is adopted compensate for significant unknown aerodynamic effects. internal dynamics such an underactuated system have been analyzed, and subsequently stabilized by redefining control output. proposed method can be generalized single-rotor-failure nominal conditions. For validation, tests carried out large-scale open jet wind tunnel. position damaged controlled presence disturbances. A linear quadratic regulator from literature has compared demonstrate advantages windy condition.