Adaptive fault tolerant attitude tracking control for a quadrotor with input saturation and full-state constraints

A novel adaptive fault tolerant control (AFTC) method based on backstepping technique is proposed for the attitude tracking of a quadrotor subject to input saturation and full-state constraints. Both additive and multiplicative actuator faults, model uncertainty and the time-varying constraints are considered. An auxiliary system combined with a command filter is designed to deal with the input saturation effect, and the tan-type barrier Lyapunov function is introduced to handle the full-state constraints. The stability of proposed AFTC scheme is mathematically proved, simulation confirms that the attitude tracking errors will converge to a neighborhood of zero, and the estimation errors of unknown disturbances and actuator faults are bounded. Meanwhile, the required full-state constraints will not be violated during operation.