A Fault-Tolerant Control Architecture for Unmanned Aerial Vehicles

projects: Software Enabled Control (SEC), SEC Renegade (a follow-on to the SEC project funded to apply SEC technologies to a full-scale rotorcraft), and Heterogeneous Urban Reconnaissance, Surveillance, and Target Acquisition Team (HURT). My deepest thanks are for Professor George J. Vachtsevanos, who advised me through the completion of this work. His critical input, guidance, and mentoring have been invalu-Lastly, my wife Michelle contributed to every page in ways she does not even know. I could not have done it without her.

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