Two-Step Robust Fault-Tolerant Controller Design Based on Nonlinear Extended State Observer (NESO) for Unmanned Aerial Vehicles (UAVs) with Actuator Faults and Disturbances

Two-Step Robust Fault-Tolerant Controller Design Based on Nonlinear Extended State Observer (NESO) for Unmanned Aerial Vehicles (UAVs) with Actuator Faults and Disturbances

This paper presents a two-step robust fault-tolerant controller of incorporating disturbances and actuator faults rejection for a UAV flight control system, which is challenging due to its complex and nonlinear dynamics. First, the main controller, which is designed separately, considers all the des...

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Bibliographic Details
Main Authors: Wei Wang, Yiming Chen, Zhang Ren, Huanhua Liu
Format: Article
Language:English
Published: MDPI AG 2025-03-01
Series:Drones
Subjects:
robust fault-tolerant control
nonlinear extended state observer
unmanned aerial vehicle
flight control system
disturbance/fault compensator
Online Access:https://www.mdpi.com/2504-446X/9/3/183
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