Abstract:

For the quadrotor aircraft in flight may cause actuator failure, a simple and effective fault tolerant control method is proposed,which combines integral backstepping and time delay control (TDC) techniques. The basis control system is designed by the integral backstepping method, and the approaching capacity of TDC is used to compensate the actuator failure. Therefore, there is no need to detect and estimate the fault online, the unknown actuator fault can be estimated by using onestep previous state information by TDC. Finally, simulation results show that the controller has strong robustness to the actuator failure.