Stabilization controller design of quadrotor robot under one actuator breakdown

Quadrotor robots for indoor travel collide with walls and obstacles, and people around them may be dangerous. In this study, we describe attitude control and rigid control algorithm of quad rotor robot when propeller is broken. Basically, the quadrotor robot is controlled with a double PID algorithm. If one propeller is broken, the situation is recognized using the IMU sensor signal, and the robust control algorithm operates, yielding to circumventing the malfunction of the robot.