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View Video Presentation: https://doi.org/10.2514/6.2022-0058.vid

Flight attitude control architectures for autonomous hexarotor vehicles must guarantee adequate attitude command tracking performance under multiple circumstances. Standard attitude controllers consist of a feedback control architecture and a static control allocation function. These types of controllers assume that all motors are fully functional. Poor system tracking performance or complete system failure may occur when some motors fail. To this end, a dynamic control allocation architecture is utilized in this paper to solve the problem of motor failures during flight. The architecture with the dynamic control allocation function calculates the required PWM signals for each motor with knowledge of each motor’s functionality, or health. The proposed architecture was experimentally tested on a hexarotor platform fixed to a stand under three test cases.