Dynamic Surface Fault Tolerant Tracking Control Design for UAV with Transient Performance★

In this paper, a novel fault tolerant control (FTC) approach is proposed for the attitude control systems of unmanned aerial vehicle (UAV) using dynamic surface control technique. Firstly, the nonlinear attitude dynamic models of UAV with actuator faults are given, which represent the dynamic characteristics of UAV. Then, a fault tolerant control scheme is proposed, which guarantees the asymptotic tracking and ultimate uniform boundedness of the closed-loop attitude control systems of UAV in the presence of an actuator fault. Further, a transient performance is considered in the designing of FTC, which characterizes the convergence rate and maximum overshoot of the attitude tracking error. Finally, simulation results are given to illustrate the effectiveness of the developed FTC algorithm.