Reliable attitude stability control of quad-rotor based on fault-tolerant approach

The reliability flight property has received much attention within the aircraft control community throughout the last decades. In this paper, the fault-tolerant control technique is introduced into the attitude stability control system of a quadrotor UAV in order to compensate the influence of the actuators fault of the aircraft. This control scheme is composed of two components: a robust fault detection module using the model-based observation approach and a reconfigurable controller. Besides the designing procedure, the theoretical analysis of robustness and stability of the designed FTC scheme are also contained in this article. And finally, the availability of the proposed scheme is verified through numerical simulation.