Fault-Tolerant Control for Multirotor Aerial Transportation Systems With Blade Damage

A finite-time disturbance observer-based nonlinear hierarchical control scheme is designed for the aerial transportation system to handle the lumped disturbance caused by blade damage.

Cite: Hai Yu#, Shizhen Wu, Wei He, Xiao Liang*, Jianda Han, Yongchun Fang
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