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<p>In this research, a robust and adaptive fault-tolerant control approach is presented for the rejection of the unknown disturbances and faults existing in the quadrotor unmanned aerial vehicle sensors. The proposed approach is based on the hybrid utilization of the Fuzzy Takagi-Sugeno and linear matrix inversion control. Quadrotors are highly complex and nonlinear dynamic systems, which are vulnerable to unknown faults and disturbances, due to which the system performance may cause instability or degradation. To guarantee the stability of the system, an adaptive fuzzy T-S model is utilized to depict the nonlinear behavior of the system through a set of linear models based on fuzzy rules. The adaptive approach enables the controller to dynamically adjust based on the varying system conditions. A linear matrix inversion (LMI) control strategy is developed based on this model to effectively compute control inputs while maintaining system performance and stability. By integrating the approaches, the real-time faults are compensated without the requirement of fault diagnoses and isolation. The results of the simulation show that the suggested adaptive strategy shows robustness and strong resilience against unknown faults and disturbances, and ensures the stable flight compared to the conventional Fuzzy T-S controller, conventional linear matrix inversion (LMI) controller, and the techniques used in the literature. The results show the efficacy, effectiveness, and efficiency of the proposed approach for real-time UAV applications.To improve the safety and performance of nonlinear systems, it is suggested that the described method be integrated into fault-tolerant control (FTC).</p>

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Fault-tolerant control of quadrotor unmanned aerial vehicle by using adaptive fuzzy T-S and linear matrix inversion approach

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年4月9日

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  • Muhammad Taimoor,
  • Haixia Wang,
  • Sameena Bibi,
  • Chunyang Sheng,
  • Umer Hameed Shah,
  • Xiao Lu,
  • Zhiguo Zhang,
  • Irfan Hussain

摘要

In this research, a robust and adaptive fault-tolerant control approach is presented for the rejection of the unknown disturbances and faults existing in the quadrotor unmanned aerial vehicle sensors. The proposed approach is based on the hybrid utilization of the Fuzzy Takagi-Sugeno and linear matrix inversion control. Quadrotors are highly complex and nonlinear dynamic systems, which are vulnerable to unknown faults and disturbances, due to which the system performance may cause instability or degradation. To guarantee the stability of the system, an adaptive fuzzy T-S model is utilized to depict the nonlinear behavior of the system through a set of linear models based on fuzzy rules. The adaptive approach enables the controller to dynamically adjust based on the varying system conditions. A linear matrix inversion (LMI) control strategy is developed based on this model to effectively compute control inputs while maintaining system performance and stability. By integrating the approaches, the real-time faults are compensated without the requirement of fault diagnoses and isolation. The results of the simulation show that the suggested adaptive strategy shows robustness and strong resilience against unknown faults and disturbances, and ensures the stable flight compared to the conventional Fuzzy T-S controller, conventional linear matrix inversion (LMI) controller, and the techniques used in the literature. The results show the efficacy, effectiveness, and efficiency of the proposed approach for real-time UAV applications.To improve the safety and performance of nonlinear systems, it is suggested that the described method be integrated into fault-tolerant control (FTC).