Interpolated reference model based fault tolerant sliding mode control for an octorotor

In this paper, a quasi-linear parameter varying sliding mode control allocation law is proposed for the fault tolerant of an octorotor. event rotor faults/failures, redistributes effort among remaining healthy rotors. The designed to guarantee asymptotic tracking reference model which tuned on-line, through interpolated feedback gain, ensure that signals remain within their saturation limits. A method designing parameterised gain shown maximise defined stability criteria whilst preventing undesirable performance characteristics in model. scheme tested on non-linear octorotor presence severe failures and uncertainty/disturbances.