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Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

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Figure

Figure 1: The overall scheme of the fault-tolerant control.
Figure 2: Configuration of hexarotor.
Figure 6: The isolated fault factor for the actuators, case 1.
Figure 9: The reference trajectory and the response trajectory not using the fault-tolerant control scheme, case 2.
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