Fault-Tolerant Adaptive Control Allocation for Unmanned Multirotor Helicopter * *This work is supported partially by the scholarship from China Scholarship Council (CSC) (No. 201406290023) and Natural Sciences and Engineering Research Council of Canada (NSERC)

This paper proposes an adaptive sliding mode control allocation scheme for accommodating simultaneous actuator fault/failure. A control allocation and re-allocation scheme is synthesized to redistribute the control signals among the working actuators. In the case of the desired virtual control not being achieved, the proposed on-line adaptive scheme can seamlessly adjust the control gain to stabilize the overall system. The effectiveness of the proposed algorithm is demonstrated by the simulation results based on a modified unmanned multirotor helicopter under simultaneous actuator fault/failure conditions.