Partial engine fault detection and control of a Quadrotor considering model uncertainty

This paper presents a trajectory tracking fault-tolerant control strategy inside an autonomous emergency landing architecture to quadrotor in case of partial rotor fault. The proposed architecture, which is composed required hardware and subsystems, aims ensure fully safe the impaired suitable site. controller strategy, tried be coincident with Pixhawk autopilot contains cascade three-loop structure adaptive sliding mode modified PID algorithm along fault detection algorithm. algorithms are applied fast dynamics angular velocity rates position quadrotor, respectively. A lightweight developed detect identify faults engine using outputs filtered rates. simulation results demonstrate that can multi-rotor satisfactory performance. also effect time delay on overall