Fault-tolerant multi-rate sampled-data control for quadrotor UAV

This paper puts forward a novel multi-rate sampled-data fault-tolerant control strategy for quadrotor unmanned aerial vehicle. By constructing a loop-based Lyapunov functional, stability criteria of the system under aperiodic sampled-data framework is given. Fixing the sampled-data period under velocity and position control, this paper obtains a larger sampled-data period under attitude control than existing literature. An adaptive fault-tolerant control scheme is introduced to ensure steady-state operation in the presence of actuator faults. Furthermore, a multi-rate sampled-data controller solution method is proposed to address the actuator fault problem, enabling the stability of the system under the controllers with normal and uncertain gains. Simulation results using a quadrotor model validate the reliability of the planned fault-tolerant control scheme, ensuring stability even at very low sampled-data frequencies. Through comparative analysis, it is proved that the designed controller enables precise hovering at the desired position, regardless of the presence or absence of actuator faults.