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This paper has developed a new attitude fault-tolerant control (FTC) method for quadrotor UAVs with damaged propellers. A fixed-time extended state observer (FTESO) is proposed to estimate the equivalent disturbances resulted from propeller damage. Using the estimated states, a fixed-time FTC controller is investigated for attitude system by the terminal sliding mode control. Specifically, the prescribed performance function is used to improve the faulty system performance. Combining Lyapunov function, the designed FTC scheme ensures the fixed-time stability of the attitudes. Some simulation results are given to illustrate the effectiveness of FTC scheme.

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Fixed-Time Actuator Fault-Tolerant Control with Prescribed Performance for Quadrotor UAVs

  • 会议论文

  • 发表日期：

    2025年

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  • Hao Liu,
  • Yuying Guo

摘要

This paper has developed a new attitude fault-tolerant control (FTC) method for quadrotor UAVs with damaged propellers. A fixed-time extended state observer (FTESO) is proposed to estimate the equivalent disturbances resulted from propeller damage. Using the estimated states, a fixed-time FTC controller is investigated for attitude system by the terminal sliding mode control. Specifically, the prescribed performance function is used to improve the faulty system performance. Combining Lyapunov function, the designed FTC scheme ensures the fixed-time stability of the attitudes. Some simulation results are given to illustrate the effectiveness of FTC scheme.