A nonlinear model predictive controller, tested in high-fidelity simulation, lets the M4 morphing robot recover from a fully failed rotor by reconfiguring its legs and remaining thrusters.
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NMPC-based Unified Posture Manipulation and Thrust Vectoring for Agile and Fault-Tolerant Flight of a Morphing Aerial Robot
A nonlinear model predictive controller, tested in high-fidelity simulation, lets the M4 morphing robot recover from a fully failed rotor by reconfiguring its legs and remaining thrusters.