A Super-Twisting Observer Design for Thrust-Loss Fault Tolerant Control of UAVs 

In this video, we're diving into practical experiments in UAV fault-tolerant control design. We are tackling the thrust loss problem by implementing a super-twisting observer in the body frame, achieving finite time convergence. Then, we design a low-level super-twisting controller to accurately track trajectories and counteract the thrust loss effects. We discuss system stability and convergence, showing how it recovers normal behavior and the separation principle.