Fault Tolerant Control against Actuator Faults Based on Interval Type-2 Fuzzy Sliding Mode Controller for a Quadrotor Aircraft

Fault-tolerant control (FTC) has earned increasing interest in the last few years for its reliability. A fault tolerant control system for operating a quadrotor aircraft in the presence of actuator faults and external disturbances is proposed in this paper. Firstly, the dynamic model of the quadrotor and types of actuator faults are presented. Secondly, an interval type-2- fuzzy sliding mode control (IT2FSMC) is proposed to stabilize the quadrotor if actuator faults occur. Compared to conventional sliding mode control (SMC), The results obtained confirm the validity and capabilities of the proposed FTC. Thirdly, by using the Lyapunov theory, asymptotic stability is confirmed. The efficiency of the proposed FTC is clarified by simulation results.