Limited Time Fault Tolerant Control for Attitude Stabilization of Quadrotor UAV

Aiming at the situation of external disturbance and actuator failure in the attitude control of quadrotor UAV, an adaptive fault-tolerant control (FTC) method based on finite-time disturbance observer is proposed. First, the UAV dynamic model is decoupled into attitude subsystem and position subsystem; a finite-time disturbance observer is designed to observe the external unknown disturbances and actuator fault signals in the system in real time, and the observations are combined with the design of a non-singular fast terminal sliding mode controller, which not only realizes the detection of the unknown external disturbances in the system. It suppresses and compensates for the influence of actuator failure, and improves the tracking speed and control accuracy of the system. The stability of the control system is proved based on Lyapunov theory. Finally, the effectiveness of the proposed method is verified by simulation.