Switch Fault-Tolerant Control of Six-Rotor UAV Based on Sliding Mode Variable Structure Control

  • Tianyu WangEmail author
  • Si-ming Wang
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1060)


A fault-tolerant controller based on sliding mode control and switching control is designed to solve the problem of six-rotor UAV actuator failure and uncertain interference. The sliding mode control method is used to establish the controller in the fault-free state, and the backstepping method is used to design the controller in the fault state. On this basis, fault information is obtained by sliding mode observer, and fault tolerance is realized by combining the fault information with switching control. Simulation results show that the control strategy has good robustness, and it can effectively reduce the impact of actuator fault on flight.


Switching control Sliding mode control Fault-tolerant control 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.School of Automatic and Electrical EngineeringLanzhou Jiaotong UniversityLanzhouChina

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