Nonlinear disturbance observer-based geometric attitude fault-tolerant control of quadrotors

• Published in: International journal of systems science Vol. 55; no. 11; pp. 2337 - 2348
• Main Authors: Wang, Liping, Sun, Weiwei, Pei, Hailong
• Format: Journal Article
• Language: English
• Published: London Taylor & Francis 17.08.2024; Taylor & Francis Ltd
• Subjects: Actuator failure; Closed loops; Control methods; Convergence; Disturbance observers; Effectiveness; Fault tolerance; fault-tolerant control; Feedback control; geometric method; nonlinear disturbance observer; Quadrotor UAVs; Rotary wing aircraft; Tracking problem; Uncertainty; Unmanned aerial vehicles; Unmanned helicopters

This paper is concerned with nonlinear disturbance observer (DO)-based geometric attitude fault-tolerant control (FTC) problem of quadrotor unmanned aerial vehicles (UAVs) subject to system uncertainties, exogenous disturbances, and actuator faults. A disturbance observer-based control (DOBC) framew...