Diana Serra

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A backstepping approach is proposed in this paper to cope with the failure of a quadrotor propeller. The presented methodology supposes to turn off also the motor which is opposite to the broken one. In this way, a birotor configuration with fixed propellers is achieved. The birotor is controlled to follow a planned emergency landing trajectory. Theory(More)
A controller dealing with the failure of a quadrotor's motor is presented in this paper. Supposing that the failure has been already detected by the system, the quadrotor is modelled as a birotor with fixed propellers and it is controlled to follow a planned emergency landing trajectory. Theory shows that, in such a configuration, the aerial vehicle is(More)
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