Adaptive Finite-time Fault-tolerant control of UAV sagainst Combined Faults

The design of UAVs has been an active research field in the last decade, especially when the UAVs flying in complex environments. Considering the finite-time fault-tolerant control problem for UAVs under combined faults and wind disturbances. To design a new adaptive finite-time disturbance observer fault-tolerant control (AFTDO-FTC) scheme, the scheme combines the finite-time sliding film surface, nonlinear disturbance observer and adaptive controller to realize the position and attitude control of UAVs. First, a nonlinear disturbance observer is established to estimate the lumped uncertainty caused by combined faults and wind disturbances. Then, according to the finite-time sliding film surface of the weight vector and error vector, the adverse effects of estimation error of nonlinear disturbance observer are effectively weakened. Furthermore, the adaptive finite-time position controller and attitude controller are established respectively according to estimation of combined adaptive disturbance observer. Finally, the effectiveness of proposed method is verified by comparing the simulation results using the Lyapunov method.