Trajectory control approaches for a fault tolerant quadcopter

This article is focused in exploring the most efficient forms of flying towards its destination through predetermined waypoints, with the presented fault tolerant X8 architecture, considering its energy consumption and total flight time. This paper's content will go through the quadcopter kinematic and dynamic model, the extension to the X8 model and the comparison of the PID, State Feedback control and Differential Flatness algorithms developed for the quadcopter X8 maneuvering. Faults/failures in actuators are also considered and studied.