Fault tolerant control (FTC) for multicopters, etc.
Author JinraeKim
3 Stars
Updated Last
1 Year Ago
Started In
June 2021


FaultTolerantControl.jl is a package for fault tolerant control (FTC).


Changes in FaultTolerantControl@0.3.0

It is rewritten to be compatible with FlightSims.jl@1.0.0, Julia@1.7.0.

FTC using various CA (control allocation) methods

See ./test/CA_backstepping.jl. Run this at ./.

ex_screenshot ex_screenshot

  • Parallel trajectory generation is available. Benchmarks with
  1. M1 Macbook Air: 7 threads, about 4s / 7 trajectories
  2. Ryzen 5900X: 24 threads, about 5s / 24 trajectories. Note that the benchmark results may be outdated.


  • Make a trajectory generator; to save trajectory command via JLD2 safely (without reconstruction).
  • Complete the main script for the second-year report; see the related project.
  • Calculate objective functional


  • Previously written examples are deprecated; see previous versions, e.g., FaultTolerantControl@0.2.0.


This research was supported by Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea (NRF) and Unmanned Vehicle Advanced Research Center (UVARC) funded by the Ministry of Science and ICT, the Republic of Korea (2020M3C1C1A01083162).