Practical Prescribed Time Fault-Tolerant Tracking Control for a Quadrotor UAV: A solution based on FASA

This study investigates the practical prescribed-time tracking problem for a quadrotor unmanned aerial vehicle with actuator faults by using the fully actuated system approach. First, the original practical prescribed-time tracking problem is changed into one with a time-varying constraint on tracking errors by introducing a novel time-varying constraining function. Then, fault-tolerant control schemes are proposed for the translational dynamics and rotational dynamics based on the fully actuated system models to compensate for actuator faults and deal with the time-varying constraint. With the aforementioned conversion, the suggested method guarantees that, despite actuator problems, the tracking errors will converge to the specified compact set within a preassigned finite time. Additionally, simulation experiments validate the efficacy of the suggested methodology.