Fault tolerant flight control system design to a quadrotor

In this study, fault tolerant control is made using improved PID controller approach with different motor fault scenarios in a quadrotor. A realistic simulation was set up by obtaining dynamics equations of aircraft and modeling motor dynamics. By linearizing nonlinear model both linear and nonlinear models were simulated to follow different trajectories in comparison. Finally, designed control structure over different motor fault scenarios is tested whether a robust control structure is built.