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A fault tolerant control approach is proposed in this paper for quadrotor Unmanned Aerial Vehicle (UAV) subject to time varying disturbances and actuator faults. The approach is based on a Super-Twisting (STW) control algorithm and a Higher Order Sliding Mode Observer (HOSMO). The HOSMO generates the exact estimates of the unmeasured states and time varying disturbances without any filtration that...
This paper provides a comparative study of three Sliding Mode Control (SMC)-based fault tolerant controllers for trajectory tracking of a quadrotor UAV subject to actuator faults. Conventional SMC, Integral (ISMC) and Integral Terminal SMC (ITSMC) designs are designed and implemented to a quadrator UAV. The controllers' performance along with their respective robustness was assessed using various...
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