Adaptive Fault-tolerant Control for Aerocraft with Actuator Failure and Perturbation

An adaptive fault-tolerant controller is designed based on the mathematical model of UAV with actuator failure and random disturbance. The controller is composed of a series of adaptive laws. Through online estimation of fault factors and disturbance factors, it compensates the influence of actuator faults and random disturbances on the system, and realizes the fault-tolerant control of the UAV system. Using active fault-tolerant control technology, an adaptive control gain equation is designed to make the obtained closed-loop system gradually stable without knowing the actuator fault and disturbance boundary information. The Matlab simulation experiment verifies the effectiveness of this adaptive fault-tolerant control method.