H∞ Robust Fault-Tolerant Control of a Six-Rotor UAV Containing Sensor Faults and Actuator Non-Affine Faults

In this paper, a study related to
$H_{\infty} $
robust fault-tolerant control (FTC) of a six-rotor Unmanned Aerial Vehicle (UAV) control system considering stochastic time lags and modeling uncertainties in the case of sensor faults and actuator non-affine faults (NAFs) occurs. First, the system is extended to a Markov jump system (MJS) by considering the stochastic delay due to the influence of uncertain network environment on the system. Then, the sufficient conditions that can make the augmented system stochastically stable with
$H_{\infty} $
performance index are given in the form of matrix inequalities. After that, the optimal parameters and matrices of the system are calculated by convex optimization after decoupling the matrix inequalities to obtain the solution of the controller gain matrix. Finally, the effectiveness of the method proposed in this paper is verified by simulation comparison experiments.