A Feedback Linearization Approach to Fault Tolerance in Quadrotor Vehicles

In this paper the control problem of a quadrotor vehicle experiencing a rotor failure is investigated. First we derive a nonlinear mathematical model for the quadrotor including both translational and rotational drag terms. Then we use a feedback linearization approach to design a controller whose task is to make the vehicle enter a constant angular velocity spin around its vertical axis, while retaining zero angular velocities around the other axis. These conditions can be exploited to design a second control loop, which is used to perform trajectory following. The proposed double control loop architecture allows the vehicle to perform both trajectory and roll/pitch control when a rotor failure is present.