Skip to main content

Research Repository

Advanced Search

Avoiding contingent incidents by quadrotors due to one or two propellers failure

Altınuç, Kemal Orçun; Khan, Muhammad Umer; Iqbal, Jamshed


Kemal Orçun Altınuç

Muhammad Umer Khan


With the increasing impact of drones in our daily lives, safety issues have become a primary concern. In this study, a novel supervisor-based active fault-tolerant (FT) control system is presented for a rotary-wing quadrotor to maintain its pose in 3D space upon losing one or two propellers. Our approach allows the quadrotor to make controlled movements about a primary axis attached to the body-fixed frame. A multi-loop cascaded control architecture is designed to ensure robustness, stability, reference tracking, and safe landing. The altitude control is performed using a proportional-integral-derivative (PID) controller, whereas linear-quadratic-integral (LQI) and model-predictive-control (MPC) have been investigated for reduced attitude control and their performance is compared based on absolute and mean-squared error. The simulation results affirm that the quadrotor remains in a stable region, successfully performs the reference tracking, and ensures a safe landing while counteracting the effects of propeller(s) failures.


Altınuç, K. O., Khan, M. U., & Iqbal, J. (2023). Avoiding contingent incidents by quadrotors due to one or two propellers failure. PLoS ONE, 18(3), Article e0282055.

Journal Article Type Article
Acceptance Date Feb 6, 2023
Online Publication Date Mar 3, 2023
Publication Date Mar 1, 2023
Deposit Date Mar 17, 2023
Publicly Available Date Mar 20, 2023
Journal PLoS ONE
Print ISSN 1932-6203
Electronic ISSN 1932-6203
Publisher Public Library of Science
Peer Reviewed Peer Reviewed
Volume 18
Issue 3
Article Number e0282055
Public URL


Published article (2.3 Mb)

Publisher Licence URL

Copyright Statement
Copyright: © 2023 Altınuç et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

You might also like

Downloadable Citations