Event-Triggered Prescribed Performance Adaptive Fuzzy Fault-Tolerant Control for Quadrotor AAV With Actuator Saturation and Failures

This article investigates the event-triggered prescribed performance adaptive fuzzy fault-tolerant control tracking strategy for quadrotor autonomous aerial vehicles (AAV) with actuator failures and saturation. In view of the uncertainty of quadrotor AAV system parameters due to the installation errors, propeller errors, and so on, the fuzzy logic systems are adopted to approximate the unknown uncertainties of the quadrotor AAV system. To ensure that the tracking error achieves the preset transient performance, the error transformation method and barrier Lyapunov functions based on performance functions are adopted. Nussbaum gain technology is presented to solve the effects of actuator faults, saturation, and the event-triggered mechanism, in which the event-triggered scheme is proposed to solve the issue of scarce computing and communication resources in quadrotor AAV systems. Finally, the superiority tracking performance of the quadrotor AAV by using the proposed control algorithm is verified by simulation results.