Robotics · 2024 · Inter IIT Tech Meet 13.0
Quadrotor Fault-Tolerant Control
Fault-tolerant control in PX4 that recovers a quadrotor from a single motor failure and lands it with low drift. Helped IIT BHU finish in the top 10 of 23 IITs.
Overview
This started with a hard competition problem from ideaForge at Inter IIT Tech Meet 13.0: keep a quadrotor stable after a motor failure, then land it without losing the frame. In a team of eight, I worked on the control logic, the simulation flow and the recovery behaviour inside PX4 and Gazebo.
My role
PX4 controls work, simulation, controller integration and recovery testing.
Highlights
- Held X drift to 0.15 m during controlled landing tests
- Held Y drift to 0.30 m in the recovery window
- Helped the IIT BHU team finish in the top 10 among 23 IITs