Robust H_∞ fault tolerant control for quadrotor attitude regulation

This article investigates the robust H∞ fault tolerant control of quadrotor attitude regulation. The hover stability is heavily dependent on the thrust forces generated by the four rotors of the quadrotor. If faults occur in the rotors, the quadrotor becomes unstable, and possibly out of control. To this end, this article proposes a robust H∞ fault tolerant control schema, consisting of two level controllers, for regulation of the quadrotor attitude. The functions of the upper level controller and lower level controller are to generate the desired control input, and obtain the real input of the four rotors, respectively. In addition, the external disturbances are considered and attenuated by the controller. The simulation details are presented, and the effectiveness of the proposed control schema is verified.