Error Reconstruction-Based Prescribed-Time Fault-Tolerant Control for QUAV

In this study, the prescribed-time fault-tolerant tracking control problem for quadrotor unmanned aerial vehicle(QUAV) under external disturbances is investigated. Firstly, an error reconstruction mechanism based on adjustable convergence rate is proposed. This mechanism dynamically adjusts the convergence characteristics of the QUAV system, ensuring that the position and attitude tracking errors strictly converge to the prescribed accuracy range before the preset time threshold. Secondly, the disturbance observer is adopted to estimate unknown disturbances and additive faults, thereby reducing the impact of unknown variables on the stability of the system model. Afterwards, an adaptive fault-tolerant control (FTC) strategy is designed. It compensates for the multiplicative faults of the actuator online through the parameter adaptive law, and actively offsets additive faults by combining them with the output of the disturbance observer. This approach forms a composite FTC architecture. Finally, numerical simulation results show that the proposed control scheme can ensure the accurate convergence of the position and attitude system within prescribed-time under multiple actuator faults and unknown external disturbances. This verifies the effectiveness and robustness of the control strategy.