An adaptive sliding mode fault‐tolerant control of a quadrotor unmanned aerial vehicle with actuator faults and model uncertainties

An adaptive sliding mode fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle in this article to accommodate actuator faults and model uncertainties. First, new reaching law proposed, with which (SMC) constructed. The made up of variable the distance between it designated boundary layer, can effectively suppress unexpected chattering while preserving necessary system tracking performance. Then, an SMC scheme further solve fault uncertainty compensation problem. adaptation helps prevent overestimation parameters, as well avoiding chattering. Finally, number comparative simulation tests are carried out validate effectiveness superiority strategy. demonstrated quantitative comparison results confirm its advantages.