Composite nonlinear dynamic inversion control for quadrotor UAV with multi-source disturbances and actuator faults

This paper investigated the trajectory tracking control problem of quadrotor UAVs with multi-source disturbances and actuator faults. Both the actuator faults and multi-source disturbances are viewed as part of the lumped disturbances, and the high-order sliding mode observers are introduced to estimate the lumped disturbances, Based on the disturbance estimations, a composite dynamic inverse control scheme is prosed. Simulation results validate that the proposed method significantly improves the disturbance rejection performance and fault tolerance performance of the quadrotor UAVs.