Adaptive fault tolerant control design for UAV with multiple actuator faults

This paper addresses an adaptive fault tolerant flight control design for an unmanned aerial vehicle (UAV) in the presence of multiple actuator faults. With a reference model and control allocation implemented to evaluate dynamic tracking error performance of flight control systems (FCS) in fault free case, the proposed control can converge to an optimal solution and make faulty FCS asymptotically track a reference system online. Finally, simulation results are given to demonstrate the effectiveness of the proposed development.