Direct Self-Repairing Control for Quadrotor Helicopter Attitude Systems

Table 1

Fault mode.

Fault parameter	State of system
𝜆𝑖=1, 𝜎𝑖=0	Normal
0<𝜆𝑖<1, 𝜎𝑖=0	Loss of effectiveness
𝜆𝑖=0, 𝜎𝑖=1	Lock-in-place