Adaptive Fault-Tolerant Tracker Design for Perturbed Quadrotors Subject to Actuator Faults

The trajectory tracking of the quadrotor in the presence of an external disturbance and an actuator failure is the main topic of the upcoming paper. As a result, the novel adaptive fault-tolerant control technique is developed in two stages, which are described below. The nominal model of the quadrotor is taken into consideration first. Thus, LaSalle's Lemma is used to design a powerful controller that certifies the global asymptotic trajectory tracking. Second, the nominal model of the quadrotor is extended to include the actuator defect and external perturbation. Global asymptotic stability of the following error is then certified by developing an adaptive fault-tolerant control method for the disturbed quadrotor. In order to strengthen the system's implementation against the unknown upper-bounded disturbance, the adaptive control process is used in the final section to estimate the external disruption's unknown upper bound. The suggested approach's primary benefits are the tracking error's global asymptotic reachability, the introduction of a fault-tolerant control strategy, and the suggestion of a chattering-free controller. Lastly, the viability and efficiency of the proposed controller for the trajectory tracking of the disrupted quadrotor with the actuator defect are verified using simulation and hardware-in-loop implementations.