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With the rapid development of UAV, the safety work of UAV has become more important. In order to improve the safety of hexarotor UAV during flight, a fault-tolerant control scheme independent of basic control law and control distribution is designed in this paper. Firstly, the linear active disturbance rejection control (LADRC) was used as the basic control law for attitude control of hexarotor UAV. Secondly, in the case of actuator failure of hexarotor UAV, a fault observer was used to estimate fault information accurately. Then, on this basis, the control distribution matrix was adjusted to reduce the use of the faulty motor, and the purpose of fault-tolerant control was achieved. Finally, simulation experiments and actual flight experiments were carried out to verify the effectiveness of the proposed scheme. Experimental results show that the proposed scheme can improve the robustness of the control system and the flight safety of UAV.<\/jats:p>","DOI":"10.1155\/2020\/8829329","type":"journal-article","created":{"date-parts":[[2020,8,4]],"date-time":"2020-08-04T23:32:32Z","timestamp":1596583952000},"page":"1-16","source":"Crossref","is-referenced-by-count":11,"title":["Fault Tolerant Control Algorithm of Hexarotor UAV"],"prefix":"10.1155","volume":"2020","author":[{"given":"Songming","family":"Jiao","sequence":"first","affiliation":[{"name":"Department of Automation, North China Electric Power University, Baoding 071003, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haiyue","family":"Gao","sequence":"additional","affiliation":[{"name":"Department of Automation, North China Electric Power University, Baoding 071003, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8870-8593","authenticated-orcid":true,"given":"Xiaokun","family":"Zheng","sequence":"additional","affiliation":[{"name":"Department of Automation, North China Electric Power University, Baoding 071003, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dengpan","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Automation, North China Electric Power University, Baoding 071003, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","reference":[{"key":"1","year":"2017"},{"key":"2","first-page":"2181","volume":"27","year":"2015","journal-title":"Journal of System Simulation"},{"key":"4","first-page":"30","volume":"20","year":"2013","journal-title":"Electronics Optics & Control"},{"key":"5","first-page":"33","volume":"34","year":"2008","journal-title":"Aerospace Control and Application"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.3390\/en12010095"},{"key":"9","first-page":"115","volume":"46","year":"2014","journal-title":"Journal of Harbin Institute of Technology"},{"key":"10","first-page":"2098","volume":"34","year":"2012","journal-title":"Systems Engineering and Electronics"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.03.019"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1051\/jnwpu\/20183640748"},{"key":"14","first-page":"1630","volume":"30","year":"2013","journal-title":"Control Theory and Application"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2020\/8829329.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2020\/8829329.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2020\/8829329.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,8,4]],"date-time":"2020-08-04T23:32:36Z","timestamp":1596583956000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/jr\/2020\/8829329\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,8,4]]},"references-count":10,"alternative-id":["8829329","8829329"],"URL":"https:\/\/doi.org\/10.1155\/2020\/8829329","relation":{},"ISSN":["1687-9600","1687-9619"],"issn-type":[{"value":"1687-9600","type":"print"},{"value":"1687-9619","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,8,4]]}}}