{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T11:37:19Z","timestamp":1770291439886,"version":"3.49.0"},"reference-count":38,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,3,20]],"date-time":"2021-03-20T00:00:00Z","timestamp":1616198400000},"content-version":"vor","delay-in-days":78,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["G2019KY05103"],"award-info":[{"award-number":["G2019KY05103"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>This paper presents an active fault\u2010tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault\u2010tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme is able to estimate sensor faults while eliminating the effect of external disturbances. Moreover, the proposed fault\u2010tolerant control scheme is capable to eliminate the adverse effect of external disturbances as well by designing a disturbance observer to effectively estimate the unknown external disturbances and integrating with the designed integral sliding\u2010mode controller. In this case, the continuous operation of the quadrotor helicopter is ensured while avoiding the unexpected control chattering. In addition, the stability of the closed\u2010loop system is theoretically proved. Finally, the effectiveness and advantages of the proposed scheme are validated and demonstrated through comparative numerical simulations of the quadrotor helicopter under different faulty and uncertain scenarios.<\/jats:p>","DOI":"10.1155\/2021\/6672812","type":"journal-article","created":{"date-parts":[[2021,3,20]],"date-time":"2021-03-20T18:20:07Z","timestamp":1616264407000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A Robust Fault\u2010Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8002-1263","authenticated-orcid":false,"given":"Ban","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peng","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2021,3,20]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/7931632"},{"key":"e_1_2_9_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-017-3514-1"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/8879364"},{"key":"e_1_2_9_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2017.2707378"},{"key":"e_1_2_9_5_2","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/4329053"},{"key":"e_1_2_9_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2013.06.010"},{"key":"e_1_2_9_7_2","doi-asserted-by":"publisher","DOI":"10.1504\/ijmic.2019.103665"},{"key":"e_1_2_9_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/62.134217"},{"key":"e_1_2_9_9_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-019-01002-4"},{"key":"e_1_2_9_10_2","doi-asserted-by":"publisher","DOI":"10.3390\/s19224948"},{"key":"e_1_2_9_11_2","doi-asserted-by":"publisher","DOI":"10.3390\/app10041278"},{"key":"e_1_2_9_12_2","doi-asserted-by":"publisher","DOI":"10.3390\/s19030643"},{"key":"e_1_2_9_13_2","doi-asserted-by":"publisher","DOI":"10.1016\/s0005-1098(99)00177-6"},{"key":"e_1_2_9_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/s0005-1098(02)00098-5"},{"key":"e_1_2_9_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.02.031"},{"key":"e_1_2_9_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2008.03.008"},{"key":"e_1_2_9_17_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2013.01.009"},{"key":"e_1_2_9_18_2","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/2463790"},{"key":"e_1_2_9_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/taes.2017.2773262"},{"key":"e_1_2_9_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/tase.2017.2776998"},{"key":"e_1_2_9_21_2","doi-asserted-by":"crossref","unstructured":"Al YounesY. 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