Fault-tolerant Control of Variable Load Drone Based on HOFA System Approach

This paper proposes an integral sliding controller based on second-order fully actuated system theory for the control problem of variable load six rotor unmanned aerial vehicles in the event of flight faults, and an extended observer with model information is used to estimate and compensate for the fault signals which occur during the flight. This paper innovatively introduces virtual control variables to supplement the system into a second-order six dimensional fully actuated system, and designs an integral sliding mode controller using a modified saturation function to achieve rapid stability of unmanned aerial vehicles during the process of verying load. In addition, the extended observer can also successfully estimate and compensate for the loss of execution efficiency of the drone.