Adaptive fault-tolerant optimal control of QUAV with uncertain disturbances

In this article, the optimal attitude tracking control problem of quadrotor unmanned aerial vehicle is investigated in the presence of actuator faults and uncertain perturbation. First, based on reinforcement learning and robust control theory, the robust learning-based optimal controller is designed. Then, according to the learning-based control strategy, the fault-tolerant control is further reconstructed to suppress the influence of actuator fault. Finally, the stability analysis based on Lyapunov is given to prove the stability of the closed-loop system. Simulation results verify the practicability of the designed controller.