Command-Filter-Based Finite-Time Fault-Tolerant Control of Attitude Tracking for Quadrotor UAVs with Actuator Faults

A finite-time controller of attitude tracking is designed for quadrotor unmanned aerial vehicles (UAVs). In order to avoid the differential explosion problem existing in the traditional backstepping method, a command filter is introduced. In addition, as for the possible actuator faults, fault-tolerant control is incorporated into the controller, in which the parameter estimators are designed to identify the unknown fault parameters in the system. Through the comprehensive application of finite-time control, adaptive control and fault-tolerant control, the proposed controller ensures that the system’s rapidity, robustness and reliability are improved. Finally, the validity and stability of our present control scheme are verified by a numerical simulation. © (2024), (International Association of Engineers). All rights reserved.