Nonlinear adaptive fault-tolerant control for a quadrotor UAV based on immersion and invariance methodology

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This paper presents a new fault-tolerant controller based on an immersion and invariance (I&I) observer to deal with the partial loss of actuator’s effectiveness associated with a quadrotor unmanned aerial vehicle. The I&I observer is utilized to estimate the actuator fault which is unknown, and it is combined with a sliding mode controller to stabilize the attitude of the quadrotor. A dynamic scaling factor and a filtered state are introduced to the observer to guarantee the availability of the invariant and attractive manifold. To avoid the singularity associated with orientation representations, the unit quaternion representation is utilized to formulate the attitude controller. The Lyapunov-based stability analysis is employed to prove that a global asymptotical stability result is achieved. Real-time flight tests are implemented on a self-built hardware-in-loop-simulation quadrotor testbed, and the results show that the proposed fault-tolerant controller has achieved good control performance under partial loss of actuator’s effectiveness.