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A fixed control allocation scheme is deployed as a low-level control module to distribute\u002Fredistribute virtual control signals among the available actuators in the nominal\u002Ffaulty situations without acquiring actuator health information. In order to cope with uncertainty due to actuator faults and to attain fast and finite-time convergence of tracking error, a high-level control module is designed using a higher-order integral sliding mode control method. A rigorous closed-loop stability analysis is carried out to show the system’s stability. Finally, the numerical simulations are conducted on a nonlinear model of a multirotor UAV system, demonstrating the efficacy of the suggested approach.",[11,12,13,14],"Ijaz, Salman","Ijaz, Hamdoon","Khodaverdian, Maria","Nasr, A R",[16,17,18,19],"0000-0003-1483-4754","0000-0001-8126-2528","0000-0003-2482-3573",null,2022,"https:\u002F\u002Fdoi.org\u002F10.1109\u002Fccdc55256.2022.10034263","W4320802399","2022 34th Chinese Control and Decision Conference (CCDC)",[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41],"Multirotor","Control theory (sociology)","Actuator","Convergence (economics)","Computer science","Fault tolerance","Control engineering","Sliding mode control","Nonlinear system","Control system","Stability (learning theory)","Control (management)","Scheme (mathematics)","Engineering","Mathematics","Distributed computing","Artificial 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