中文摘要：

在近十年间，飞行系统的可靠性问题得到了飞行控制领域越来越多的重视。以一种全新的垂直起降飞行器——四旋翼飞行器作为研究对象，设计具有高可靠性的姿态稳定控制系统，为了补偿执行机构发生故障给飞行控制品质带来的影响，一种主动容错技术将被应用于姿态控制系统的设计中，主要设计了一个基于状态观测器技术的鲁棒故障检测环节与一个可容错重构的姿态控制器，在设计控制系统的同时，还对于故障检测的鲁棒性与快速性、重构控制系统的稳定性进行了理论分析。最后通过数值仿真，对容错控制系统中各个环节的效果进行了验证。

英文摘要：

Throughout the last decade, more and more attentions have been focused on the reliability of flight system in the aircraft control. In this paper, a high-reliability attitude stability control system was designed for a novel VTOL unmanned aerial vehicle （UAV）, a quad-rotor aircraft. In order to compensate for the influence of the actuator fault to the aircraft control, an active fault-tolerant control system was introduced into the attitude control system. This scheme was composed of two components：A robust fault detection module using the model-based observation approach and a reconfigurable controller. The robustness and stability of the fault-tolerant control scheme were also analyzed theoretically. The availability of the proposed scheme was verified through numerical simulation.