Analysis on the Attitude Kinematic Equation of a Quadcopter with Rotor Failure

The challenge of fault-tolerant control (FTC) method for a quadcopter is that it is difficult to maintain full control of arbitrary states with rotor failure. In this paper, an attitude motion analysis method is proposed to explain the rationality of sacrificing the controllability of the yaw state from a mathematical perspective. Firstly, a model transformation method is proposed, which reformulates the problem as the attitude motion of a rigid body under torque disturbances in the spin-stable state. Secondly, a neural network-based method for solving the attitude kinematic equation of a spinning rigid body is proposed. Finally, the results of numerical experiments reveal a phenomenon wherein the numerical solution takes on a trigonometric form when the system is in the spin-stable state.