Robust Control Algorithm Considering the Actuator Faults for Attitude Tracking of an UAV Quadrotor Aircraft

The work proposed in this paper aims to design a robust control algorithm for the attitude tracking of a quadrotor UAV system in presence of actuator faults. The attitude dynamic modeling of quadrotor while taking into account various physical phenomena, which can influence the dynamics of a flying structure is presented. Subsequently, a control algorithm which based on robust integral backstepping taking into account the actuator faults is developed. Lyapunov based stability analysis shows that the proposed control algorithm keep the stability of the closed loop dynamics of quadrotor UAV even after the presence of actuator faults. Numerical simulation results are provided to show the good tracking performance of proposed control laws.