Nonlinear MPC with propeller failure!

We just recorded this interesting control performance during a propeller failure using an AscTec Firefly multicopter Micro Aerial Vehicle. The work is mostly done by Mina Kamel, one of our outstanding PhDs at the ASL. The proposed fast nonlinear model predictive attitude controller in combination with an optimal outer loop retain position tracking while yaw is left unregulated due to the asymmetries of the hexacopter with one motor failure.