IEEE Paper Template in A4 (V1)
نویسندگان
چکیده
This paper deals with the design of a fault tolerant control (FTC) of a quadrotor aircraft system, considering the actuator faults. The attitude dynamic model of quadrotor, taking into account the various parameters which can affect the dynamics of this system in space is presented. Subsequently, based on robust adaptive-backstepping method and taking into account the actuator faults, a new FTC strategy is developed. The main advantages of this control method are the good tracking and the stability preservation of the closed loop dynamics of quadrotor aircraft even after occurrence of actuator faults. Numerical simulation results are provided to show the good performances of proposed FTC method. Keywords— Adaptive control, Backstepping approach, Fault tolerant control (FTC), Robust control, Quadrotor.
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