# A multi-rate hierarchical fault-tolerant adaptive model predictive control framework: Theory and design for quadrotors

> Research article (Automatica, 2023) · cited 40× · AI/ML

**Wikidata**: [openalex:W4365506121](https://www.wikidata.org/wiki/openalex:W4365506121)  
**Source**: https://4ort.xyz/entity/a-multi-rate-hierarchical-fault-tolerant-adaptive-model-predictive-control-framework-theory-and-design-for-quadrotors