Abstract:

A robust adaptive dynamics surface fault tolerant control approach is developed for the attitude control systems of unmanned aerial vehicles （UAVs） with unknown actuator faults and uncertainties. Firstly, the nonlinear damping technique is introduced to eliminate the uncertainties and disturbances. Secondly, a fault tolerant control scheme based on adaptive dynamics surface control is constructed, which can guarantee the overall asymptotical stability of the closed-loop attitude control systems with unknown actuator faults and a good attitude tracking performance for the guidance command. Finally, simulation results are given to demonstrate the effectiveness of the developed fault tolerant control scheme.