Fault tolerant path following for a quadrotor

Adeel Akhtar, Steven L. Waslander, Christopher Nielsen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Scopus citations


This paper presents a path following controller for a quadrotor UAV experiencing a single rotor failure. A smooth, dynamic feedback control law is proposed that allows the quadrotor to follow both closed and non-closed embedded curves while maintaining a desired velocity profile along the path when one out of four motors is completely disabled due to failure. The nonlinear model of the quadrotor is transformed into a partially linear model by a coordinate and feedback transformation. A path following controller is designed for transformed system that guarantees invariance of the path. The uncontrolled nonlinear portion of the dynamics (internal dynamics) are shown to be bounded. © 2013 IEEE.
Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781467357173
StatePublished - Jan 1 2013
Externally publishedYes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2023-10-11


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