Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed

As the first part, this paper presents an overview on the existing works on fault detection and diagnosis (FDD) and fault-tolerant control (FTC) for unmanned rotorcraft systems. Considered faults include actuator and sensor faults for single and multi-rotor systems. As the second part, several FDD and FTC techniques developed recently at the Networked Autonomous Vehicles Lab of Concordia University are detailed along with experimental application to a unique and newly developed quadrotor helicopter testbed.