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In this paper, an appointed-time prescribed performance fault-tolerant control (ATPPFTC) method for quadrotor unmanned aerial vehicle (QUAV) system is studied in the presence of model parameters uncertainties, actuator faults and external disturbances. For the position loop and the attitude loop, the proposed method overcomes the model parameters uncertainties caused by the changes of rotary inertia, the mass and aerodynamic damping coefficients. Meanwhile, unknown actuator faults and unknown external disturbances are investigated by using adaptive method. Moreover, a new appointed-time prescribed performance function and coordinate transformation are introduced to impose performance characteristics on the tracking errors. Based on the Lyapunov stability theory, an adaptive dynamic surface control method is proposed to ensure that the position and attitude tracking errors of the closed-loop system can achieve the appointed-time convergence and prescribed transient and steady-state performance. Incidentally, the convergence speed and convergence time of the system tracking error can be set flexibly. Finally, the simulation verifies the effectiveness and superiority of the proposed control scheme from both qualitative and quantitative aspects.

Appointed-time prescribed performance fault tolerant control for QUAV with actuator fault and model parameters uncertainties