Fixed-Time Attitude Tracking Control for Quadrotor UAVs Under Actuator Failures

This work investigates the active fault tolerant attitude tracking control problem for quadrotor unmanned aerial vehicles subject to external disturbances and actuator faults. As a stepping stone, an observer is presented to precisely reconstruct the disturbances and faults on the basis of the system state information. Then, a novel terminal sliding mode control and observer based fault-tolerant controller is proposed to guarantee the fixed-time stability of the closed-loop attitude tracking control system. Furthermore, the resulted controller achieves a fine performance without any overshoot. Finally, the effectiveness of this scheme is verified by simulation works.