Modeling and stabilizing control laws design taking into account the actuator faults for an UAV type-quadrotor

Abstract EN

This paper deals with the design of a robust control algorithm for an under-actuated quadrotor UAV system in presence of actuator faults.

Dynamic modeling of quadrotor while taking into account various physical phenomena, which can influence its dynamics is presented.

Subsequently, a robust control strategy which based on backstepping approach using sliding mode techniques, taking into account the actuator faults is developed.

Lyapunov based stability analysis shows that the proposed control strategy design keeps the stability of the closed loop dynamics of quadrotor aircraft even after the presence of actuator faults.

Numerical simulation results are provided to show the good tracking performance of proposed control laws.