{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T18:22:22Z","timestamp":1772302942354,"version":"3.50.1"},"reference-count":21,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2012,10,10]],"date-time":"2012-10-10T00:00:00Z","timestamp":1349827200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2013,1]]},"abstract":"<jats:p> In this paper, an augmented sliding mode-based fault-tolerant control is designed theoretically, implemented practically and tested experimentally in a quadrotor unmanned aerial vehicle testbed under propeller damage and actuator fault conditions for tracking control. In view of the significant feature of robustness inherent to the sliding mode control technique, the developed sliding mode-based fault-tolerant control strategies have been designed and implemented in the two currently and widely used types of fault-tolerant control strategy, i.e. passive and active, with the intention to investigate and compare the advantages, disadvantages and application considerations and limitations of these two different fault-tolerant control strategies in the tracking control problem of a quadrotor unmanned aerial vehicle application. Therefore, these two types of controller have been carried out in both theory and practice with and without the presence of faults. Both theoretical and experimental analyses demonstrated the effectiveness of the two sliding mode-based fault-tolerant control strategies in the application to the quadrotor unmanned aerial vehicle under a small level of actuator faults or damage. Detailed comparisons are also provided in the paper to demonstrate the capabilities, advantages and disadvantages of the two types of fault-tolerant tracking controller under different flight conditions in the presence of actuator faults and propeller damage. <\/jats:p>","DOI":"10.1177\/0959651812455293","type":"journal-article","created":{"date-parts":[[2012,10,11]],"date-time":"2012-10-11T12:03:00Z","timestamp":1349956980000},"page":"12-23","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":60,"title":["Passive and active nonlinear fault-tolerant control of a quadrotor unmanned aerial vehicle based on the sliding mode control technique"],"prefix":"10.1177","volume":"227","author":[{"given":"Tong","family":"Li","sequence":"first","affiliation":[{"name":"Concordia University, Canada"}]},{"given":"Youmin","family":"Zhang","sequence":"additional","affiliation":[{"name":"Concordia University, Canada"}]},{"given":"Brandon W","family":"Gordon","sequence":"additional","affiliation":[{"name":"Concordia University, Canada"}]}],"member":"179","published-online":{"date-parts":[[2012,10,10]]},"reference":[{"key":"bibr1-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1016\/S0967-0661(97)00051-8"},{"key":"bibr2-0959651812455293","first-page":"1033","volume-title":"IFAC symposium on fault detection supervision and safety for technical processes","author":"Patton RJ","year":"1997"},{"key":"bibr3-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1243\/095441005X30379"},{"key":"bibr4-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2008.03.008"},{"key":"bibr5-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1109\/SSST.2007.352374"},{"key":"bibr6-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cta:20020110"},{"key":"bibr7-0959651812455293","first-page":"1","author":"Milhim AB","year":"2010","journal-title":"AIAA infotech@aerospace 2010"},{"key":"bibr8-0959651812455293","volume-title":"Annual conference of the Prognostics and Health Management Society 2011 (PHM2011)","author":"Sadeghzadeh I"},{"key":"bibr9-0959651812455293","doi-asserted-by":"publisher","DOI":"10.2514\/2.4465"},{"key":"bibr10-0959651812455293","doi-asserted-by":"publisher","DOI":"10.2514\/2.5083"},{"key":"bibr11-0959651812455293","first-page":"1011","volume-title":"44th IEEE conference on decision and control and European control conference","author":"Alwi H"},{"key":"bibr12-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.10.034"},{"key":"bibr13-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2011.2169796"},{"key":"bibr14-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2010.01.010"},{"key":"bibr15-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2042234"},{"key":"bibr16-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2010.2072891"},{"key":"bibr17-0959651812455293","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2011.04.007"},{"key":"bibr18-0959651812455293","unstructured":"Quanser Inc. 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