Active Fault Tolerant Control for a Multi-Actuator fault of Quadrotor System in Hovering Mode

Quadrotor is one of the most popular rotary wing aircraft in control problem. Safety and reliability are the key issues in aerospace area. The efficiency of a quadrotor depends directly on the health of its actuators. In this paper, an active fault tolerant control (AFTC) scheme for quadrotor UAVs suffering from actuator loss of effectiveness fault in hovering mode is presented. This AFTC is based on an Adaptive Sliding Mode Controller. In this paper for controlling inputs Siding Mode Controller is used. Whenever a fault is eliminate the occur sinusoidal faults. Simulation results show that the propose controller is successful to improving the quadrotor immunity against multi actuator faults in hovering mode.

Keywords:

Actuator , Active fault tolerant control , Adoptive sliding mode control , hovering mode