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Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure

This paper presents the desing of an active fault tolerant control for the stabilization problem of a Quad-Rotor under the effects of a rotor failure. First, the healthy nonlinear model is presented. Then, the failure scenario is analyzed in order to identify how this affects the dynamics. It is assumed that the failure has been previously isolated. The fault tolerant control design is composed of PID and PD controllers allowing the yaw angular velocity to spin at a constant speed, around the vertical axis, and achieving a regulation task in the position (x,y,z). The closed-loop stability is formally proven. Numerical simulations demonstrates the efficiency of the proposed control strategy.