Altınuç, Kemal OrçunAltinuc, Kemal OrcunKhan, Muhammad UmerKhan, Muhammad UmerIqbal, JamshedMechatronics Engineering2024-07-052024-07-05202321932-620310.1371/journal.pone.02820552-s2.0-85149262476https://doi.org/10.1371/journal.pone.0282055https://hdl.handle.net/20.500.14411/2500Iqbal, Jamshed/0000-0002-0795-0282; Khan, Muhammad/0000-0002-9195-3477With the increasing impact of drones in our daily lives, safety issues have become a primary concern. In this study, a novel supervisor-based active fault-tolerant (FT) control system is presented for a rotary-wing quadrotor to maintain its pose in 3D space upon losing one or two propellers. Our approach allows the quadrotor to make controlled movements about a primary axis attached to the body-fixed frame. A multi-loop cascaded control architecture is designed to ensure robustness, stability, reference tracking, and safe landing. The altitude control is performed using a proportional-integral-derivative (PID) controller, whereas linear-quadratic-integral (LQI) and model-predictive-control (MPC) have been investigated for reduced attitude control and their performance is compared based on absolute and mean-squared error. The simulation results affirm that the quadrotor remains in a stable region, successfully performs the reference tracking, and ensures a safe landing while counteracting the effects of propeller(s) failures.eninfo:eu-repo/semantics/openAccess[No Keyword Available]ArticleQ2Q1183WOS:00094599310002936867591