Feedback linearization based passive fault tolerant control of a quadrotor

Quadrotors have some disadvantages such as nonlinear models, coupled dynamics, and unstable open – loop characteristics. In order to achieve a stable and safe flight, the control problem of the quadrotor must be solved efficiently. In this work, a feedback linearization-based controller scheme is given for the altitude and attitude dynamics of a quadrotor. Also, passive fault tolerant control characteristics of the presented controller scheme are investigated. Results are tested for 25% and 50% motor faults and also with 0.1 [Nm] disturbance effect. Although states have steady – state errors during faults and external forces, they remain convergent. So, the designed controller can overcome faults and disturbances without exhibiting divergent or unstable behavior.