Unmanned Aerial Vehicle (UAV) mission success is highly dependent on the robust and reliable performance of individual UAVs. Therefore implementing fault tolerant control to prevent UAV catastrophic failure is critical. In this paper, a control strategy for a Quadrotor under actuator fault is considered. A Sliding Mode Controller (SMC) is used to control the quadrotor during nominal and fault conditions. The gains of the SMC are obtained through a Lyapunov stability analysis, and optimized through Particle Swarm Optimization (PSO). Simulations are presented to exhibit controller effectiveness during nominal and fault conditions.

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