Adaptive Fuzzy Fault-tolerant Attitude Control for Unmanned Aerial Vehicle

This paper proposes an adaptive fuzzy fault-tolerant attitude control scheme for the fixed-wing unmanned aerial vehicles (UAVs) in the presence of external disturbance, uncertain parameters, and time-varying actuator failures. Firstly, a control-oriented attitude control model based on the six-degree-of-freedom (6-DOF) dynamics model of the UAVs is established, then the external disturbance, uncertainty, and time-varying actuator failures are transformed into a lumped uncertainty. Subsequently, an approximator is constructed by employing the fuzzy logic systems, meanwhile, a robust term is introduced to improve the tracking performance. The Lyapunov stability analysis shows that all the signals of the closed-loop system are uniformly ultimately bounded. Finally, simulations are conducted to validate the effectiveness and superiority of the proposed strategy.