Fault tolerance of a quadrotor via feedback linearization approach

A control algorithm is proposed to efficiently the state, position, and height of a nonlinear dynamic model quadcopter. Based on feedback linearization, state space presented for system with controller two-loop structure designed implemented in it. The inner faster responsible adjusting quadcopter angles, outer slower changing desired figures roll pitch angles position. Whenever rotor fails, status position are converged stabilized. Simulation results based different scenarios indicate proper performance whenever there external disturbances. Note that gyroscopic effects because of<em> </em>the propeller rotation were not considered.