Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

<div>The actual rotor speed under fault-tolerant control (a) and the actual rotor speed without using the fault-tolerant control mechanism (b), case 2.</div>

International Journal of Aerospace Engineering

fig11

Figure 11

Figure 11: Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators 