Attitude Fault-Tolerant Control of Aerial Robots with Sensor Faults and Disturbances

In this paper, sensor fault diagnosis and tolerant control strategy are investigated for quadcopters under faults disturbances. We propose the estimation system fault-tolerant (FTC) method. The provides time-varying an unknown bound of Moreover, eliminates disturbance that is estimated through associated observer. Overall, proposed FTC guarantees finite-time tracking convergence using nonsingular fast terminal sliding mode algorithm. Stability closed-loop validated Lyapunov theory. Finally, conventional adaptive neural network compared with method simulations disturbances different scenarios.