A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 5 Issue 1
Jan.  2018

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Yuying Guo, Bin Jiang and Youmin Zhang, "A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 292-300, Jan. 2018. doi: 10.1109/JAS.2017.7510679
Citation: Yuying Guo, Bin Jiang and Youmin Zhang, "A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 292-300, Jan. 2018. doi: 10.1109/JAS.2017.7510679

A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts

doi: 10.1109/JAS.2017.7510679

the National Natural Science Foundation of China 61573282

the Foundation of the Education Department of Sichuan Province 16ZA0132

the Foundation of Robot Technology Used for Special Environment, Key Laboratory of Sichuan Province 13zxtk06

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  • A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper. Firstly, a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach. Then, based on active disturbance rejection control (ADRC), the fault tolerant controller is proposed to recover faulty system and reject perturbations. The developed controller takes wind gusts, actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer (ESO) and compensated by nonlinear feedback control law. So, the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values. Finally, some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises.


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