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In this paper, a fault-tolerant control scheme is proposed to make an over-actuated octorotor robust, against actuators fault and saturation. A sliding mode observer is employed to determine the actuators condition. Then, a fault-tolerant control based on the control allocation methodology is proposed to distribute the control signals between the actuators by considering their condition. In a nonlinear system, an actuator fault can lead to the saturation of other actuators and steady-state errors that can cause closed-loop instability. Hence, the proposed control scheme corrects the actuator signals in a way that their limitations are considered. Finally, experimental studies are carried out and a comparison study is provided.<\/jats:p>","DOI":"10.1017\/s0263574722000054","type":"journal-article","created":{"date-parts":[[2022,2,21]],"date-time":"2022-02-21T13:57:23Z","timestamp":1645451843000},"page":"3057-3076","source":"Crossref","is-referenced-by-count":8,"title":["Design and implementation of a fault-tolerant controller using control allocation techniques in the presence of actuators saturation for a VTOL octorotor"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2379-876X","authenticated-orcid":false,"given":"Hamid","family":"Hafezi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ali","family":"Bakhtiari","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ali","family":"Khaki-Sedigh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,2,21]]},"reference":[{"key":"S0263574722000054_ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139933"},{"key":"S0263574722000054_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.01.035"},{"key":"S0263574722000054_ref38","unstructured":"[38] Madgwick, S. , An efficient orientation filter for inertial and inertial\/magnetic sensor arrays. 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