A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties

• Published in: Journal of systems science and complexity Vol. 35; no. 1; pp. 81 - 104
• Main Authors: Wang, Ban, Zhang, Youmin, Zhang, Wei
• Format: Journal Article
• Language: English
• Published: Beijing Academy of Mathematics and Systems Science, Chinese Academy of Sciences 01.02.2022; Springer Nature B.V
• Subjects: Actuators; Adaptive control; Attitude control; Complex Systems; Control; Control theory; Disturbance observers; Fault tolerance; Faults; Mathematics; Mathematics and Statistics; Mathematics of Computing; Moments of inertia; Operations Research/Decision Theory; Robust control; Sliding mode control; Statistics; Systems Theory; Uncertainty; Unmanned aerial vehicles; Unmanned helicopters; quadrotor UAV; composite adaptive fault-tolerant control; model uncertainty; Actuator fault; external disturbance

In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding...