Actuator fault tolerant control in experimental networked embedded mini Drone

This paper deals with freezing fault reconfiguration in a small four-rotor helicopter (drone). This fault may be because of network faults such as packet loss or long delay in one actuator. In case of the fault occurrence in one actuator (motor) different strategies were proposed to compensate the fault effects on drone. These approaches are based on the minimisation of criterion related to flight condition performance and satisfying to safety conditions.