Adaptive fault-tolerant control for carrier-based UAV with actuator failures

Abstract

An adaptive fault-tolerant control (AFTC)1 method is developed for an automatic carrier landing system (ACLS)2 with actuator failures. First, an actuator fault model is added to the linear unmanned aerial vehicle (UAV)3 model. Then, an AFTC algorithm based on the output feedback designs for output tracking is raised to solve the theoretical problem extracted through the practical automatic carrier landing process. The σ-modification based robust adaptive update law is used for both parameterized and unparameterized fault. Then the stability of the system is verified by Lyapunov function method. Finally, the ACLS simulation is conducted, which includes the guidance law designed by PID method, the flight controller designed by the proposed AFTC method and a deck motion prediction and compensation based on auto-regression (AR)4 model. The comparison result shows that the improved robust AFTC can effectively deal with both parameterized and unparameterized fault, as well as external disturbances.