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For the convenience of control design, the actuator dynamics with respect to the tail rotor are introduced. The adaptive fault observer and robust item are employed to observe the actuator faults and eliminate the effect of external disturbances, respectively. A backstepping-based robust fault-tolerant control scheme is designed with the aim of obtaining satisfactory tracking performance and closed-loop system stability is proved via Lyapunov analysis, which guarantees the convergence of all closed-loop system signals. Simulation results are given to show the effectiveness of the proposed control method. <\/jats:p>","DOI":"10.1177\/0142331218775477","type":"journal-article","created":{"date-parts":[[2018,6,27]],"date-time":"2018-06-27T22:34:35Z","timestamp":1530138875000},"page":"1266-1277","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":36,"title":["Robust attitude fault-tolerant control for unmanned autonomous helicopter with flapping dynamics and actuator faults"],"prefix":"10.1177","volume":"41","author":[{"given":"Kun","family":"Yan","sequence":"first","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, PR China"}]},{"given":"Mou","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, PR 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