Abstract : This paper proposes a fault-tolerant control (FTC) approach for unknown actuator
faults based on robust control theory. The mu-analysis is used to infer closed-loop stability against
different actuator faults. Further, an adapted DK-iteration approach is used to compute a
guaranteed robustly stable FTC, given an actuator redundant system. The performance of
the new control approach is verified in simulation with a flight of a fixed-wing unmanned aerial
system (UAS) and compared against a classical hierarchical PID controller for different fault
scenarios. Finally, the algorithm is verified in a real-flight experiment with an UAS.