This paper presents a path following controller for a quadrotor UAV experiencing a single rotor failure. A smooth, dynamic feedback control law is proposed that allows the quadrotor to follow both closed and non-closed embedded curves while maintaining a desired velocity profile along the path when one out of four motors is completely disabled due to failure. The nonlinear model of the quadrotor is transformed into a partially linear model by a coordinate and feedback transformation. A path following controller is designed for transformed system that guarantees invariance of the path. The uncontrolled nonlinear portion of the dynamics (internal dynamics) are shown to be bounded.
No takes yet. Share an insight, caveat, or question.
Akhtar et al. (2013) studied this question.
Synapse has enriched 4 closely related papers on similar clinical questions. Consider them for comparative context: