Adaptive finite-time attitude tracking control of quadrotor under actuator faults and external disturbances with guaranteed performance

The problem of attitude tracking control for quadrotor in presence of actuator faults and external disturbances is investigated in this article. By using fast terminal sliding mode control combined with prescribed performance technique, an adaptive control strategy capable of accommodating actuator faults and suppressing external disturbances is designed to achieve attitude finite-time tracking control with guaranteed performance. In particular, with the help of Nussbaum functions, actuator faults are passively handled without extra development of fault detection and diagnosis mechanism. The finite-time stability of attitude system under actuator faults and external disturbances is analyzed by Lyapunov stability criterion. Moreover, in order to demonstrate the effectiveness and superiority of proposed control scheme, numerical simulations in different cases are performed and presented in simulation section.