Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor

• Main Authors: Mehndiratta, Mohit, Singh, Karanjot, Kayacan, Erdal, Feroskhan, Mir
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2022
• Subjects: Engineering::Aeronautical engineering; Engineering::Mechanical engineering; Fault Tolerant Control; Nonlinear Control Systems; Unmanned Aerial Vehicles
• Online Access: https://hdl.handle.net/10356/154766
• Institution: Nanyang Technological University

Highly maneuverable, over-actuated aerial robots have gained increasing interest in various inspection applications. However, since these systems carry expensive equipment and must operate in the vicinity of humans, their fail-safe operation is paramount. In this study, we propose a centralized nonl...