Adaptive Fault Tolerant Control for a Quadrotor Under Actuator Faults

A novel fault tolerant control scheme for actuator fault which may occur on an underactuated system of quadrotor aircraft using a backstepping sliding mode technique is addressed. Firstly, a nonlinear observer is designed to estimate fault information. Secondly, a backstepping terminal sliding mode fault tolerant control scheme is proposed. The fault can be accurately estimated information under different fault factors, and further compensated via fault tolerant controller (FTC). Finally, the experimental simulation results show excellent fault-tolerant performance.