Robust fault tolerant control for a quadrotor using integral sliding mode control

In this paper, a new integral sliding mode for a quadrotor with motor loss-of-effectiveness faults and external disturbances is proposed. Integral sliding surface fault information is first constructed for analyzed. By combining with adaptive mechanism, an integral sliding mode controller is designed to track the desired positions, roll and pitch angles. $H_{\infty}$ control theory and Lyapunov stability analysis are employed to maintain the hovering flight in spite of actuator faults and external disturbances. Different from the existing method, a fault detection and isolation (FDI) module is not needed. Finally, a UAV example is simulated and the results have verified the effectiveness by using our method.