Robust Attitude Fault Tolerant Control of UAV With Input Saturation and Uncertainties

This brief discusses the robust fault tolerant control (FTC) problem of unmanned aerial vehicle (UAV) attitude system with actuator faults, input saturation, system uncertainties and environmental disturbances. The saturated UAV attitude dynamics with actuator loss of effectiveness faults are first established. Subsequently, an attitude robust FTC strategy is constructed in conjunction with fixed-time sliding mode control and neural networks, and the convergence time of the presented sliding manifold is irrelated to the initial system states. By virtue of the Lyapunov method, the fixed-time boundedness of all closed-loop signals is demonstrated in spite of time-varying faults and actuator-magnitude constraints. At last, the simulation is performed to evaluate the fault tolerant efficacy of the designed theoretical algorithm.