Adaptive Attitude Fault-Tolerant Control of Quadcopter Based on Fuzzy State Observer

Considering the control problem of quadcopter under both actuator fault and sensor fault, based on the fuzzy state observer, a backstepping adaptive fault-tolerant controller is proposed, which realizes the adaptive estimation of fault parameters and ensures the attitude stability of the quadcopter under two fault conditions. For actuator fault and sensor fault, the fault models are established, and through the application of the cubic absolute-value Lyapunov functions and the adaptive estimation of unknown parameters, it is shown that each output value of the entire closed-loop system is bounded by the given fault-tolerant controller, and the final simulation also proves the effectiveness of the method.