Disturbance Observer-Enhanced Adaptive Fault-Tolerant Control of a Quadrotor UAV against Actuator Faults and Disturbances

For a quadrotor unmanned aerial vehicle (UAV), this paper proposes an adaptive sliding mode control (SMC) strategy enhanced with a disturbance observer to attain precise trajectory and attitude tracking performance while compensating for the detrimental impacts of actuator faults and disturbances. F...

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Bibliographic Details

Published in:	Drones
Main Authors:	Xinyue Hu, Ban Wang, Yanyan Shen, Yifang Fu, Ni Li
Format:	Article
Language:	English
Published:	MDPI AG 2023-08-01
Subjects:	fault-tolerant control adaptive sliding mode control actuator fault quadrotor UAV disturbance observer
Online Access:	https://www.mdpi.com/2504-446X/7/8/541