Fault-Tolerant Fixed Allocation Control Scheme for Octorotor

Salman Ijaz, Fuyang Chen, Yuqing Li

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review


The proposed work introduces a fault-tolerant features to exploit the input redundancy of nonlinear octorotor system. The proposed strategy utilizes the robustness feature of an integral sliding mode controller (ISMC) that is combined with fixed control allocation (CA) scheme and the baseline nonlinear-dynamic-inversion (NDI) controller. In this paper, a closed-loop analysis is executed and stability conditions are acquired. Finally, the simulations on nonlinear system show good tracking results in failure scenarios.

Original languageEnglish
Title of host publicationAdvances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
EditorsLiang Yan, Haibin Duan, Xiang Yu
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages11
ISBN (Print)9789811581540
Publication statusPublished - 2022
Externally publishedYes
EventInternational Conference on Guidance, Navigation and Control, ICGNC 2020 - Tianjin, China
Duration: 23 Oct 202025 Oct 2020

Publication series

NameLecture Notes in Electrical Engineering
Volume644 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


ConferenceInternational Conference on Guidance, Navigation and Control, ICGNC 2020


  • Dynamic inversion
  • Nonlinear systems
  • Octorotor system
  • Robust controller

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering


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