Quasi-Static Fault-Tolerant Feedback Control of a Quadrotor under Rotor Failure with Provable Safety Guarantees

arXiv:2609.23918 · eess.SY, cs.SY, math.DS, math.OC · Submitted 2026-09-20 · Read on arXiv

eess.SY, cs.SY, math.DS, math.OC

Submitted: 2026-09-20

Updated: 2026-09-20

Comments: 7 pages, 3 figures (14 panels). Accepted for presentation at the 2026 IEEE Conference on Control Technology and Applications (CCTA)

Code: https://github.com/gradslab/quasistatic-ftc

Project page: https://gradslab.github.io/quasistatic-ftc

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Decoupling — 5× in this paper · explained in 2 episodes
• Algorithmic Redundancy — 1× in this paper · explained in 1 episode
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Multi-Agent System — 1× in this paper · explained in 6 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

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