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：空中机器人在需要持续运行的各种应用（如监视、监测与巡检）中，其故障下的运行能力至关重要。本文提出一种针对四旋翼无人机的容错控制策略，可适应单旋翼及双旋翼完全失效情况。该方法在 $SO(3)\times\mathbb{R}^3$ 上的经典几何跟踪控制器基础上进行扩展，以补偿旋翼故障产生的影响。我们深入分析了多种姿态误差度量指标，旨在为容错控制策略确定最合适的设计方案。为评估这些指标的有效性，我们对轨迹跟踪精度进行了评估。仿真结果验证了所提方法的性能。