In this letter, we introduce a new quadrotor fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a standard multirotor even when a single thruster fails. The new solution employs a novel multirotor platform known as the $T^3$-Multirotor and utilizes a distinctive strategy of actively controlling the center of gravity position to restore the controllable degrees of freedom. A dedicated control structure is introduced, along with a detailed analysis of the dynamic characteristics of the platform that change during emergency flights. Experimental results are provided to validate the feasibility of the proposed solution.

中文翻译：

---

单电机故障时全驱动四旋翼飞行器的故障安全飞行

在这封信中，我们介绍了一种新的四旋翼故障安全飞行解决方案，即使在单个推进器发生故障时，它也可以执行与标准多旋翼相同的四个可控自由度飞行。新的解决方案采用了一种名为 $T^3$-Multirotor 的新型多旋翼平台，并利用了一种独特的主动控制重心位置的策略来恢复可控的自由度。引入了专用的控制结构，并详细分析了平台在紧急飞行期间发生变化的动态特性。提供了实验结果以验证所提出的解决方案的可行性。