Adaptive Fault-Tolerant Finite Time Attitude Control for Quadrotor

An adaptive attitude tracking control algorithm for quadrotor with disturbance and actuator fault is investigated. Because of the needs of convergence rate and time, the proposed finite time controller can guarantee the attitude tracking error converge rapidly. Firstly, using nonsingular terminal sliding mode surface, an adaptive fault-tolerant attitude control scheme is described. Then, the Lyapunov stability analysis is used to make sure the stability of dynamic system and boundedness of signals. Finally, experimental results are given to indicate that the method we put forward is effective.