Abstract
This paper proposes an adaptive fault-tolerant control strategy for a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults and model uncertainties. With the proposed adaptive control schemes, both actuator faults and model uncertainties can be accommodated without the knowledge of fault information and uncertainty bounds. The proposed control scheme is constructed with two separate control modules. The low-level control allocation module is used to distribute the virtual control signals among the available redundant actuators. The high-level control module is constructed with an adaptive sliding mode controller, which is employed to maintain the overall system tracking performance in both faulty and uncertain conditions. In the case of actuator faults and model uncertainties, the adaptive scheme will be triggered to generate more virtual control signals to compensate the virtual control error and maintain the desired system tracking performance. The effectiveness of the proposed control strategy is validated through comparative simulation tests under different faulty and uncertain scenarios.
Highlights
In recent years, with the development of unmanned aerial vehicle (UAV) technology, more and more UAVs have been developed and employed for various practical applications, such as payload transportation [1], aerial surveillance [2], and border monitoring [3]
In order to demonstrate the performance of the proposed adaptive fault-tolerant control (AFTC) scheme, simulations based on the studied over-actuated hybrid canard rotor/wing (CRW) UAV in fixed-wing flight mode under different uncertain and faulty scenarios are carried out
For the purpose of comparison, a conventional sliding mode control (CSMC) without adaptation is demonstrated as the high-level controller combined with the low-level control allocation module in the following simulation scenarios
Summary
With the development of unmanned aerial vehicle (UAV) technology, more and more UAVs have been developed and employed for various practical applications, such as payload transportation [1], aerial surveillance [2], and border monitoring [3]. For many of the industrial applications, vertical take-off and landing (VTOL) is a basic requirement for UAVs. In addition, in order to accomplish the assigned mission more efficiently, UAVs are expected to fly with long endurance. In order to accomplish the assigned mission more efficiently, UAVs are expected to fly with long endurance In this case, different types of hybrid VTOL UAVs have been developed, such as tilt-wing UAV, tilt-rotor UAV, tailsitter UAV, and canard rotor/wing (CRW) UAV, which combines the advantages of both rotary-wing and fixedwing UAVs to achieve a wider flight envelope [4]. In [10], a systematic design approach for longitudinal full envelope velocity control of a small tilt-wing hybrid UAV is proposed which includes dynamic modeling, system
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