Nonlinear MPC for Quadrotor Fault-Tolerant Control

• Published in: IEEE robotics and automation letters Vol. 7; no. 2; pp. 5047 - 5054
• Main Authors: Nan, Fang, Sun, Sihao, Foehn, Philipp, Scaramuzza, Davide
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.04.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Aerodynamics; Drones; Dynamical systems; Fault tolerance; Fault tolerant control; Fault tolerant systems; Initial conditions; Inspection; Maneuvers; Nonlinear control; Nonlinear dynamical systems; Nonlinear dynamics; Predictive control; Predictive models; Rotary wing aircraft; Rotors; Unmanned aerial vehicles

The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of quadrotors render them highly susceptible to system faults, espe...