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This article presents a robust fault diagnosis method for quadcopter UAV actuator faults using an adaptive sliding mode Thau observer (ASMTO). The proposed method improves fault tolerance by estimating fault magnitude and location while accounting for external disturbances, making it suitable for real-time applications. Experimental results demonstrate the effectiveness of the ASMTO approach compared to previous methods, highlighting its simplicity and efficiency in handling actuator faults.

Author

Phuocvinh Nguyen

Language

EN