Drone components fail all the time. Even a single rotor malfunction can lead to a quadcopter crashing. UZH Robotics and Perception Group researchers have come up with a fault tolerant controller using the nonlinear model predictive control to stabilize a quacopter with a complete single rotor failure. The below video shows how it works:
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Nonlinear MPC for Quadrotor Fault-Tolerant Control (RAL 2022)
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