Fault Tolerant Super Twisting Sliding Mode Control of a Quadrotor UAV Using Control Allocation

In this study, a fault-tolerant super-twisting sliding mode controller with control allocation system for quadrotor aircraft is proposed. Super twisting robust technique that handles relative degree equal to one. A proposed because of its robustness uncertainties and perturbations. It increases accuracy reduces chattering. algorithm developed cope the actuator fault. Firstly, nonlinear model unmanned aerial vehicle (UAV) presented. Then, design type fault are explained. The used optimize trajectory tracking performance in presence an effective approach implementing control. When faults identified, they can be modeled as changes B matrix constraints. Various simulations have been made situations without failure. normal conditions, accurately track altitude, roll, pitch yaw references. faulty follow references small error. Simulations prove effectiveness algorithm, which stabilizes case Overall, paper presents novel effectively addresses using algorithm.