Incremental Fully Actuated System Approach Based Fault-Tolerant Controller Design and Flight Implementation of Unmanned Helicopters

This paper proposes a composite controller based on the incremental fully actuated system approach for the unmanned helicopter under actuator faults. First, the kinematic and dynamic mathematical model of the unmanned helicopter with actuator faults is established, forming the basis for the development of the fully actuated system description. Second, a composite controller integrating the incremental fully actuated approach with PID is designed to enhance the dynamic adaptability and steady-state error compensation performance of the fault-tolerant controller. Additionally, an observer is implemented to suppress sensor measurement noise. Finally, the proposed composite controller is deployed and evaluated through comparative experiments on an unmanned helicopter experimental platform.