Prescribed-time extended state observer and prescribed performance control of quadrotor UAVs against actuator faults

Wenquan Gong, Bo Li, Choon Ki Ahn, Yongsheng Yang

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


The detection and accommodation of actuator faults in control systems have received considerable attention. However, the existing fault-tolerant control techniques typically require complex and computationally intensive algorithms, and the settling time cannot be pre-assigned offline, which limits the practical applicability of these techniques. To address these problems, this paper proposes a prescribed-time fault-tolerant tracking control scheme for accommodating actuator failures in quadrotor unmanned aerial vehicles. First, a prescribed-time nominal controller is developed to precisely track the desired position in the absence of actuator faults. Subsequently, an extended state observer is developed to precisely estimate the uncertainties derived from actuator failures. Using the estimated values, a prescribed-time tracking control scheme is designed for the position subsystem, based on the prescribed performance control technique. In addition to having a simple structure, the proposed controller relaxes the limits that both the settling time and desired transient- and steady-state performances cannot be pre-assigned. Similarly, an observer-based prescribed-time tracking control scheme is established for the attitude subsystem under actuator failures. Numerical simulations are performed to validate the effectiveness and robustness of the proposed control method.

Original languageEnglish
Article number108322
JournalAerospace Science and Technology
Publication statusPublished - 2023 Jul

Bibliographical note

Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 62073212 , in part by the China Scholarship Council under Grant CSC202208310179 , in part by the Natural Science Foundation of Shanghai under Grant 23ZR1426600 , in part by the Innovation Fund of Chinese Universities Industry-University-Research under Grant 2021ZYB05004 , in part by the Training Programme for the Top Innovative Talents of Shanghai Maritime University under Grant 2019YBR018 , and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) (No. NRF-2020R1A2C1005449 ).

Publisher Copyright:
© 2023 Elsevier Masson SAS


  • Extended state observer
  • Prescribed performance control
  • Prescribed-time tracking control
  • Quadrotor unmanned aerial vehicles

ASJC Scopus subject areas

  • Aerospace Engineering


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