Simultaneous stabilization based attitude tracking control for quadrotor UAV with thrust constraints under complete actuator failure

Abstract

This paper presents an LMI-based control strategy for stabilizing both the attitude and altitude dynamics of a quadrotor in the presence of a single actuator failure. The analysis considers multiple equilibrium points that can be attained under thrust limitations, and examines the conditions under which stabilization is achievable. An algorithm is developed to identify a reduced set of controller gains that can ensure stability across all equilibrium states. The effectiveness of the proposed method is demonstrated through detailed simulations using a high-fidelity nonlinear quadrotor model. The results illustrate that the controller can maintain stability and achieve reliable tracking of roll and pitch commands even under single actuator failure.