本文主要研究無人載具四旋翼機之姿態與運動控制，使其能沿期望之運動軌跡飛行，並探討四旋翼機在馬達有異常情況發生時，如何即時偵測出異常情況，並改變控制策略進行容錯控制，使其能在此異常狀況下繼續完成飛行任務或終止任務並降落。在本文開始會先對四旋翼機之動力學進行分析，建立其座標系統及動態模型，並推導一般情形下之控制器為何。在容錯控制部分，先利用Thau觀測器產生殘差訊號，進而得出異常情況為何，再根據不同異常情況，改變控制策略及控制律，使四旋翼機不會因此異常情形而失控造成危險，甚至能繼續完成飛行任務。本文最後模擬結果顯示當異常狀況發生後，能立即、準確得偵測出異常情況。在容錯控制部分，四旋翼機之姿態角與位置誤差也皆在可容許之範圍之內，證明本文容錯控制法之可行性。

In this paper, a control strategy and control law are proposed to control a quadrotor when there is a fault in the actuator of the quadrotor, and try to make the quadrotor hover or fly along the desired trajectory. The derivation of the dynamic model of the quadrotor is studied for fault detection such that the faults in the actuators can be identified. When the faults are detected, the control strategy will change according to the situations of the faults. The simulation results show that when a fault occurs in the actuator, it can be detected immediately and effectively. The fault-tolerance control (FTC) strategy applied to the quadrotor can keep the quadrotor under control with limited position error.

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