Robust fault-tolerant method in the ducted fan UAV attitude control

This paper studies the robust fault-tolerant control problem of the linear uncertain system in actuator failures. Using linear matrix inequalities, a H-inf state feedback fault-tolerant control method which can meet the regional pole constraints is proposed. This method has integrity to the actuator. It is applied to attitude control system of the ducted fan UAV. The simulation results shows that this method has good robustness for the ducted fan UAV´s attitude control system when actuator is under the condition of performance degradation. Meanwhile closed-loop poles can be placed at a prescribed disk region