Fault-Tolerant Control of Quadrotor UAVs Based on Back-Stepping Integral Sliding Mode Approach and Iterative Learning Algorithm

In this paper, a fault-tolerant control system based on back-stepping integral sliding mode controller (BISMC) is designed and analyzed for both nonlinear translational rotational subsystems of the quadrotor unmanned aerial vehicles (UAVs). The novelty paper about combination classic with repetitive algorithm to reduce response time actuator faults have better tracking performance. fault defined loss effectiveness bias fault. Next, iterative learning (ILCA) used compensate unknown input according previous recorded experiences. normal condition (without actuators fault), BISMC can force actual trajectories toward desired commands chattering signals, in presence or external disturbances, mentioned incline accuracy performance occurred error. Lyapunov theory illustrates that proposed strategy stabilize despite actuators’ disturbances. simulation results show scheme comparison another method.