Fault Tolerant Flight Control Techniques with Application to a Quadrotor UAV Testbed

Unmanned Aerial Vehicles (UAVs) are gaining more and more attention during the last few years due to their important contributions and cost-effective applications in several tasks such as surveillance, search and rescue missions, geographic studies, as well as various military and security applications. Due to the requirements of autonomous flight under different flight conditions without a pilot onboard, control of UAV flight is much more challenging compared with manned aerial vehicles since all operations have to be carried out by the automated flight control, navigation and guidance algorithms embedded on the onboard flight microcomputer/microcontroller or with limited interference by a ground pilot if needed.