Preserving Full 6-DOF Actuation Under Abrupt Total Rotor Failures: Passive Fault-Tolerant Flight Control Using a Biaxial-Tilt Hexacopter

Yipeng Yang, Yiqiao Tang, Hao Zhang +6

Abrupt total rotor failures can invalidate nominal allocation despite remaining wrench capability. This paper develops an allocator-layer passive fault-tolerant control (AL-PFTC) s…