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

Figure 4

The 3-D position profile of the hexarotor, case 1.

(a) The 3D-tracking of the hexarotor without fault-tolerant control, case 1

(b) The 3D-tracking of the hexarotor using fault-tolerant control, case 1