Health-aware control of an octorotor UAV system based on actuator reliability

A major goal in modern flight control systems is the need of improving the reliability. This work presents a reliable control approach of an octorotor UAV that allows distributing the control effort among the actuators using health actuator information. The octorotor is an over-actuated system where the redundancy of the actuators allows the redistribution of the control effort among the existing actuators according to a given control strategy. The priority is given to each actuator according to the capabilities and reliability of this actuator.