The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control strategy for quadrotors that can adapt to single and dual complete rotor failures. Our approach augments a classic geometric tracking controller on $SO(3)\times\mathbb{R}^3$ to accommodate the effects of rotor failures. We provide an in-depth analysis of several attitude error metrics to identify the most appropriate design choice for fault-tolerant control strategies. To assess the effectiveness of these metrics, we evaluate trajectory tracking accuracies. Simulation results demonstrate the performance of the proposed approach.

翻译：无人机在监控、巡检等需要持续运行的应用中，其故障下的作业能力至关重要。本文针对四旋翼飞行器提出一种容错控制策略，可适应单旋翼及双旋翼完全失效的情况。该方法在$SO(3)\times\mathbb{R}^3$经典几何跟踪控制器基础上进行扩展，以补偿旋翼故障带来的影响。我们深入分析了多种姿态误差指标，旨在为容错控制策略确定最优设计选择。通过评估轨迹跟踪精度，验证了各指标的有效性。仿真结果展示了所提方法的性能。