We consider nonlinear model predictive control (NMPC) for an unmanned aerial vehicle (a hexacopter) with two of its six rotors failed. We consider three cases of failures: failure of two rotors in diagonal position, failure of two rotors separated by a functioning rotor, and failure of two adjacent rotors. Simulation results show that, by applying NMPC, the position and attitude of the hexacopter can be controlled from an initial state significantly deviated from an equilibrium state.
