Control techniques to deal with the damage of a quadrotor propeller

This chapter can be considered a tutorial to guide the readers toward the implementation of active fault-tolerant control systems dealing with the damage of a propeller of an unmanned aerial vehicle. The addressed aerial device is a quadrotor with fixed propellers. The presented methodology also supposes to turn off the motor, the opposite of the broken one. In this way, a birotor configuration with fixed propellers is achieved. State-of-the-art approaches, using a PID-based controller and a backstepping controller, are presented in a tutorial form, thus neglecting the stability proofs, to leave room to a fast and concise description of the implementation procedures