Robust Trajectory Tracking Fault-Tolerant Control for Quadrotor UAVs Based on Adaptive Sliding Mode and Fault Estimation

Robust Trajectory Tracking Fault-Tolerant Control for Quadrotor UAVs Based on Adaptive Sliding Mode and Fault Estimation

This paper presents a composite disturbance-tolerant control framework for quadrotor unmanned aerial vehicles (UAVs). By constructing an enhanced dynamic model that incorporates parameter uncertainties, external disturbances, and actuator faults and considering the inherent underactuated and highly...

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Bibliographic Details
Main Authors: Yukai Wu, Guobi Ling, Yaoke Shi
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Computation
Subjects:
quadrotor UAV
parametric uncertainty
external disturbance
actuator fault
adaptive sliding mode controller
Online Access:https://www.mdpi.com/2079-3197/13/7/162
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