Demo of fault tolerant control of damaged drone in high speed flight

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This movie demonstrates fault-tolerant control of a damaged drone during high speed (6m/s) flight. After around 35 seconds, a failure is simulated in one of the rear rotors. Our adaptive incremental nonlinear dynamic inversion (A-INDI) controller quickly recovers the drone from the potentially catastrophic situation and conducts a safe landing.  All control software is running onboard of the drone and uses onboard sensors. An Optitrack system is used for (outer loop) automatic position control inside the windtunnel.