RISE Based Nonlinear Robust Fault Tolerant Tracking Control Design for the Tilt Tri-rotor UAV

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The desired tracking position is selected as xd=2cos(π/100⋅t), yd=2sin(π/100⋅t), zd=2m. To show the performance of the proposed FTC design, a rear servo's stuck fault of the tri-rotor UAV will be introduced at δf=-2.5°, tf=80s.
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