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This paper presents an excitation operator based fault separationarchitecture for a quadrotor unmanned aerial vehicle (UAV) subject to loss ofeffectiveness (LoE) faults, actuator aging, and load uncertainty. The actuatorfault dynamics is deeply excavated, containing the deep coupling informationamong the actuator faults, the system states, and control inputs. By explicitlyconsidering the physical constraints and tracking performance, an excitationoperator and corresponding integrated state observer are designed to estimateseparately actuator fault and load uncertainty. Moreover, a fault separationmaneuver and a safety controller are proposed to ensure the trackingperformance when the excitation operator is injected. Both comparativesimulation and flight experiments have demonstrated the effectiveness of theproposed scheme while maintaining high levels of tracking performance.

Fault Separation Based on An Excitation Operator with Application to a Quadrotor UAV