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Quasi-Static Fault-Tolerant Feedback Control of a Quadrotor under Rotor Failure with Provable Safety Guarantees
This paper presents a nonlinear control law for a quadrotor unmanned aerial vehicle (UAV) under single-rotor failure that guarantees set stabilization via quasi-static feedback (QSF). Given a geometric curve in three-dimensional space, we characterize and stabilize the zero-dynamics manifold, also k
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