Nonlinear Dynamics

, Volume 96, Issue 4, pp 2681–2692 | Cite as

Finite-time reliable attitude tracking control design for nonlinear quadrotor model with actuator faults

  • S. Harshavarthini
  • R. SakthivelEmail author
  • Choon Ki AhnEmail author
Original Paper


This paper is focused on a finite-time reliable control design for nonlinear quadrotor attitude dynamic model against the actuator faults and external disturbances. By the utilization of an appropriate Lyapunov–Krasovskii functional, a finite-time performance analysis criterion is derived to obtain the robust reliable tracking control design for quadrotor dynamic model. Then, a fault-tolerant tracking control is designed such that the attitude of the quadrotor is reliable in the sense that it is finite-time bounded and satisfies the suggested mixed \(H_\infty \) and passivity performance index under given constraints. Also, the finite-time fault-tolerant controller gain is derived by solving the obtained linear matrix inequalities based on the convex optimization technique. Finally, simulation results are provided to verify the effectiveness and robustness of the proposed control design law.


Nonlinear quadrotor attitude dynamic model Fault-tolerant control Finite-time boundedness Mixed \(H_\infty \) and passivity performance 


Compliance with ethical standards

Conflicts of interest

The authors declare that they have no conflict of interest concerning the publication of this manuscript.


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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.Department of Applied MathematicsBharathiar UniversityCoimbatoreIndia
  2. 2.School of Electrical EngineeringKorea UniversitySeoulSouth Korea

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