# Active Fault-Tolerant Control of a Quadcopter against Time-Varying Actuator Faults and Saturations Using Sliding Mode Backstepping Approach

> Research article (Applied Sciences, 2019) · cited 21× · AI/ML

**Wikidata**: [openalex:W2976558452](https://www.wikidata.org/wiki/openalex:W2976558452)  
**Source**: https://4ort.xyz/entity/active-fault-tolerant-control-of-a-quadcopter-against-time-varying-actuator-faults-and-saturations-using-sliding-mode-ba