In this article, an active fault-tolerant control system is designed and analyzed for a new model structure of unmanned aerial vehicles, which is referred to a swash mass helicopter. It consists of a double-blade coaxial shaft rotor for generating the necessary thrust and four masses that are located on the main body structure to maneuver the helicopter. The translational and rotational subsystems of the helicopter are highly coupled. Therefore, change of coordinate and feedback linearization methodologies are applied to address the problem and achieve the canonical form of the model. Next, actuator fault as a loss of effectiveness and bias faults are modeled for the dynamic. The main contribution of this article is to design an active fault-tolerant control system based on back-stepping and T-S fuzzy estimation methods for the swash mass helicopter which has never been designed in the last decades. T-S fuzzy methodology is responsible for obtaining the estimated value of the actuator faults during the flight. The Lyapunov theory illustrates that the proposed control strategy can stabilize the system despite the actuator’s fault. The simulation results show the effectiveness of the proposed scheme compared with another method.

本文针对一种新型无人机结构设计并分析了一种主动容错控制系统，该结构称为旋翼质量直升机。它由用于产生必要推力的双叶片同轴转子和位于主体结构上以操纵直升机的四个质量组成。直升机的平移和旋转子系统是高度耦合的。因此，应用坐标变化和反馈线性化方法来解决问题并实现模型的规范形式。接下来，将执行器故障作为有效性损失和偏差故障建模为动态。本文的主要贡献是设计了一种基于反步法和 TS 模糊估计方法的主动容错控制系统，用于过去几十年从未设计过的斜体直升机。TS模糊方法负责获得飞行过程中执行器故障的估计值。李雅普诺夫理论表明，尽管执行器出现故障，所提出的控制策略仍可以稳定系统。仿真结果表明了所提出方案与另一种方法相比的有效性。