In order to maintain the performance of the control systems affected by the fault, a fault-tolerant control (FTC) method is used. This controller tries to minimize the effect of the fault by modifying or correcting the control law of the system at the time of fault occurrence, so that the system can continue its normal operation. In this paper, we present an analytical method for controlling the actuator faults in quadrotor. In this method, called analytical redundancy relations, we try to estimate the system states using the analytic relations, and therefore, we do not need an observer to estimate system states. So we can achieve the faulty system states without using the observer, and we can reconfigure or modify the control laws using these estimated states. This approach is an active FTC that can handle any kind of unforeseen faults that may affect the system. In this research, the control law of the main system in the normal operation is the sliding mode control that has a good performance in dealing with nonlinear complex dynamical system models.

中文翻译：

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基于解析冗余关系的四旋翼有源执行器容错控制

为了保持受故障影响的控制系统的性能，使用容错控制（FTC）方法。该控制器试图通过在故障发生时修改或修正系统的控制规律来尽量减少故障的影响，使系统能够继续正常运行。在本文中，我们提出了一种控制四旋翼执行器故障的分析方法。在这种称为解析冗余关系的方法中，我们尝试使用解析关系来估计系统状态，因此，我们不需要观察者来估计系统状态。因此我们可以在不使用观测器的情况下获得故障系统状态，并且我们可以使用这些估计状态重新配置或修改控制律。这种方法是一种主动的 FTC，可以处理可能影响系统的任何类型的不可预见的故障。本研究中，主系统在正常运行时的控制规律为滑模控制，在处理非线性复杂动力系统模型方面具有良好的性能。