Fault-Tolerant Tracking Control of Quadrotor Aircrafts with Actuator Faults and External Disturbances

In this paper, a novel fault-tolerant flight controller is designed so that the quadrotor aircraft can track a desired trajectory in the presence of actuator faults and external disturbances. For the position subsystem, a robust control law based on integral-type sliding mode control (ITSMC) is designed to achieve the tracking objective. For the attitude subsystem, a fault- tolerant attitude tracking control algorithm is proposed in this paper. Finally, the simulation result indicates the effectiveness of the proposed control algorithm.