Switching recovery control of a quadcopter UAV

This paper presents a switching recovery strategy to cope with a loss of control of one actuator. The proposed switching scheme enables the quadcopter to complete a task with the remaining controls. Attitude and velocity feedback controllers are designed using structured H_∞ optimization technique. Closed-loop stability of the resulting switching system is analysed using minimum dwell time theory. An average dwell time is also computed exploiting multiple Lyapunov-like function that accounts for delays in the detection of the control failure. Results demonstrate the potential of the proposed switching recovery scheme.