[7] WANG B, YU X, MU L X, et al.Disturbance observer-based adaptive fault-tolerant control for a quadrotor helicopter subject to parametric uncertainties and external disturbances［J］.Mechanical Systems and Signal Processing, 2019, 120:727-743.
[8] ZHANG Y M, CHAMSEDDINE A, RABBATH C A, et al.Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed［J］.Journal of the Franklin Institute, 2013, 350(9):2396-2422.
[10] AVRAM R C, ZHANG X D, MUSE J.Quadrotor actuator fault diagnosis and accommodation using nonlinear adaptive estimators［J］.IEEE Transactions on Control Systems Technology, 2017, 25(6):2219-2226.
[11] CHAMSEDDINE A, THEILLIOL D, ZHANG Y M, et al.Active fault-tolerant control system design with trajectory replanning against actuator faults and saturation:application to a quadrotor unmanned aerial vehicle［J］.International Journal of Adaptive Control and Signal Processing, 2015, 29(1):1-23.
[12] TANG P, ZHANG F B, YE J C, et al.An integral TSMC-based adaptive fault-tolerant control for quadrotor with external disturbances and parametric uncertainties［J］.Aerospace Science and Technology, 2021, 109:106415.
[15] CHEN F Y, ZHANG K K, WANG Z, et al.Trajectory tracking of a quadrotor with unknown parameters and its fault-tolerant control via sliding mode fault observer［J］.Proceedings of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering, 2015, 229(4):279-292.
[19] AVRAM R C, ZHANG X D, MUSE J.Nonlinear adaptive fault-tolerant quadrotor altitude and attitude tracking with multiple actuator faults［J］.IEEE Transactions on Control Systems Technology, 2018, 26(2):701-707.
[20] WANG F, GAO H M, WANG K, et al.Disturbance observer-based finite-time control design for a quadrotor UAV with external disturbance［J］.IEEE Transactions on Aerospace and Electronic Systems, 2021, 57(2):834-847.
[21] SLOTINE J J E, LI W P.Applied nonlinear control［M］.Englewood Cliffs, NJ:Prentice Hall, 1991.
[22] BENOSMAN M, LUM K Y.Online references reshaping and control reallocation for nonlinear fault tolerant control［J］.IEEE Transactions on Control Systems Technology, 2009, 17(2):366-379.
[23] ZHOU X B, YU X, GUO K X, et al.Safety flight control design of a quadrotor UAV with capability analysis［J］.IEEE Transactions on Cybernetics, 2023, 53(3):1738-1751.
