Integral Sliding Mode Active Fault-Tolerant Control for Unmanned Aerial Vehicles

In this paper, active fault tolerant control (AFTC) of unmanned aerial vehicles (UAVs) with bounded disturbances and an actuator fault is studied. Firstly, the system state variable and an unknown actuator fault are obtained through adaptive fault estimation (FE), then, it is proved that the estimation error of the dynamic system is asymptotically stable. Secondly, an active fault-tolerant control (AFTC) scheme combining integral sliding mode (ISM) and fault estimation is proposed. Under this scheme, the influence of disturbance and unknown actuator fault can be eliminated simultaneously in a finite time. Finally, we can illustrate the effectiveness of AFTC scheme by an example.