Disturbance Observer Based Fault Tolerant Control for Tilted Hexarotors

Tilted multirotors have superior redundancy and tracking capabilities over conventional multirotors with coplanar and collinear rotors. As such, they can potentially cope with actuator faults while still achieving tracking in both position and attitude. In this paper, the tracking fault tolerant control problem for a tilted hexarotor is addressed. Actuator partial loss of effectiveness is treated as a multiplicative fault, and the design approach is that of the disturbance observer based control. A feedback linearization based composite controller is then proposed for the faults accommodation. Simulation results show that the proposed active fault tolerant control scheme is able to cope with actuator faults.