The first aspect is about flight safety: that is, how to ensure a VPP quadcopter flies safely even when a propeller is partially damaged. The aim of this thesis is to explore the unique features of VPP quadcopters in two important aspects. Despite the advantages of VPP quadcopters, their potential has not been well explored yet, though there exist some relevant studies in the literature. They also outperform the conventional quadcopter in terms of control bandwidth and manoeuvrability. Compared to conventional fixed-pitch-propeller quadcopters, VPP quadcopters can not only generate positive but also negative thrust and hence fly upside down.
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