Fault tolerant control for a hexarotor system using Incremental Backstepping

In this paper, the design of an Incremental Backstepping controller for fault tolerant control of a hexacopter system is presented. The proposed controller compensates for the modeling mismatches including faults by relying on sensor measurements. Outdoor flight test results show the better performance of the Incremental Backstepping controller compared to the Backstepping controller. Furthermore, robustness against faults is demonstrated for the case of unknown control degradation within the propulsion system.