Adaptive finite-time fault-tolerant control scheme of UAV against combined faults.

ABSTRACT: The control of unmanned aerial vehicles (UAVs) has been an active area of research over the past decade, particularly for operations in complex environments. This paper addresses the finite-time fault-tolerant control problem for UAV subjected to simultaneous actuator faults and wind disturbances. A novel adaptive finite-time disturbance observer-based fault-tolerant control (AFTDO-FTC) scheme is proposed. This scheme integrates a finite-time sliding surface, a nonlinear disturbance observer, and an adaptive controller to achieve accurate tracking of position and attitude. First, a nonlinear disturbance observer is designed to estimate the lumped uncertainty arising from combined faults and wind disturbances. Then, a finite-time sliding surface, formulated using weighted error vectors, is

SUBMITTER: Yan X 

PROVIDER: S-EPMC12808188 | biostudies-literature | 2025 Dec

REPOSITORIES: biostudies-literature