In this paper, an emergency fault-tolerant controller is developed for quadrotor unmanned
aerial vehicles (UAVs) suffering a total loss of one actuator (rotor/motor). The proposed …

This paper presents a fault tolerant approach for a coaxial octorotor regarding rotor failures.
A complete architecture including error detection, fault isolation and system recovery is …

A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the
ability to reject disturbance torques in all directions while counteracting the effect of a failure …

MULTIROTOR helicopters [1–3] are attracting increasing attention in recent years because
of their important contribution and cost-effective application in several tasks, such as …

Recently, it was shown that an hexagon shaped hexarotor vehicle with tilted rotors, is
capable of fault tolerant attitude and altitude control. In this work, we propose a strategy to …

Several works have addressed the issue of fault tolerance in multirotors in case of a rotor
total failure, particularly their ability to keep full independent control of attitude and altitude. It …

This paper presents a detailed octorotor model derivation. The full derivation of the rigid
octorotor body dynamics based on the Newton-Euler approach including the Gyroscopic …

Recently, research reporting the advantages of flying with tilted-motor multicopters has
surfaced. Particularly, it has been theoretically proven that in the case of a complete failure …

The problem of detection and isolation of actuator faults in hexacopter vehicles is address in
this article. The aim is to detect and isolate possible faults which can occur on the vehicle …

This book provides a solution to the control and motion planning design for an octocopter
system. It includes a particular choice of control and motion planning algorithms which is …