Nonlinear Fault-Tolerant Control of an Aerial Four-Rotor Vehicle

This work deals with the developement of a fault tolerant control (FTC) to stabilize an aerial vehicle. The main goal is to preserve the stability of the vehicle even with the existence of structural and actuator faults. The considered system is a four-rotor drone described by means of nonlinear equations. The suggested FTC relies on the state-dependent-Riccati equation (SDRE). Different simulations are showcased demonstrating the effectiveness of the suggested approach.