A Novel Adaptive Robust Control Algorithm for Quadrotor UAV

This paper studies the robust fault tolerant control for quadrotor UAV and proposes a novel hybrid fault tolerant control algorithm without fault diagnosis module. Firstly, the multiplicative fault dynamic model of quadrotor UAV is established base on Newton-Euler laws. Secondly, the adaptive RBF neutral network is constructed based on the sliding mode control to approximate the unknown function of the system fault model online. The adaptive mechanism is designed in the controller to estimate the weight of the neural network and the fault information online. Then, the stability of fault tolerant system is verified based on Lyapunov theorem. Finally, simulation experiment is conducted to validate that the proposed fault tolerant control algorithm has excellent fault tolerant control effect than ordinary sliding mode fault tolerant control algorithm.