Fault-Tolerant Control with Fast Convergence under Actuator Fault of Quadrotor UAV

In this paper, under the influence of multiplicative faults and external disturbances of multiple actuators of quadrotor unmanned aerial vehicle (UAV) and based on the nonsingular global fast terminal sliding mode method, a position-attitude fault-tolerant controller is designed, and stability analysis is carried out using Lyapunov stability theory. Then by replacing a saturation function with a symbolic function, the jitter phenomenon of the UAV system is reduced. The final simulation results demonstrate the effectiveness of the proposed method and its good fault tolerance ability.