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The work proposed in this paper aims to design a robust stabilization of an underactuated quadrotor UAV system in presence of sensor failures. The dynamical model of quadrotor while taking into account various physical phenomena, which can influence the dynamics of a flying structure is presented. Subsequently, a new control strategy based on backstepping approach is developed. Lyapunov based stability analysis shows that the proposed control strategy design keep the stability of the closed loop dynamics of the quadrotor UAV even after the presence of sensor failures. Numerical simulation results are provided to show the good tracking performance of proposed control laws.

This paper presents a hybrid sliding mode control of a multicell power converter. It takes into account the hybrid aspect of the conversion structure which includes the converter continuous and discrete states. The idea is based on using a hybrid control and an observer-type sliding mode to generate residuals from the observation errors of the system by including different types of faults in the transition between modes. The case when a DC motor is coupled to the multicell converter is also considered. In this case, it is shown that under certain admissible assumptions, the voltages across the capacitors and the speed of the motor can be acceptably estimated. The simulation results are presented at the end to illustrate the performance of the proposed approach using stateflaw in sumulink (matlab). The developed method is illustrated in an example of the DC motor supply via a three cell converter which is a real example of an SDH characterized by continuous and discrete variables.

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