Non-Fragile Fault Alarm-Based Hybrid Control for the Attitude Quadrotor Model With Actuator Saturation

Abstract

In this brief, non-fragile fault alarm-based hybrid control design for the attitude quadrotor model with actuator saturation is developed. Specifically, the fault alarm-based signal is proposed based on the alarm threshold value to timely alert the controller to switch from the robust controller to fault-tolerant controller. More precisely, with the aid of extended Wirtinger's integral inequality and new double integral inequality, a new set of stability conditions with delay-dependent terms in the form of linear matrix inequalities is derived to achieve the desired attitude performance of the quadrotor. At last, the efficiency of the developed theoretical result is validated by presenting the simulation result for the quadrotor model and also clearly shows the timely alert performance of the designed alarm signal to restrain the system stability.