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In this paper, an augmented fault tolerant attitude control system is presented to address the problem of attitude adjustment for a quad-rotor unmanned aerial vehicle with inertia parameter uncertainties, the external disturbance and the partial loss of actuator effectiveness. To tackle system uncertainty and actuator faults, a fixed time compensation controller is developed based on adaptation mechanism combing with a monitor strategy and Nussbaum gain technique. Robust compensation algorithms under the proposed closed loop system structure are derived in the sense of Lyapunov stability analysis such that the attitude tracking-errors converge to a prescribed compact set in a fixed time. Finally, the simulation results demonstrate the effectiveness of the proposed controller.

Attitude Compensation Control for Quadrotor Under Partial Loss of Actuator Effectiveness