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：在需要持续作业的各类应用场景（如监视、监控与巡检）中，飞行机器人在故障状态下保持运行能力至关重要。本文提出一种能够适应单旋翼与双旋翼完全失效的容错控制策略。该方法在经典几何轨迹跟踪控制器的基础上，通过扩展至 $SO(3)\times\mathbb{R}^3$ 空间，补偿旋翼故障带来的影响。我们深入分析了多种姿态误差度量指标，以确定容错控制策略中最优的设计选择。通过评估轨迹跟踪精度，验证了这些度量指标的有效性。仿真结果证明了所提方法的性能表现。