Backstepping Fault-Tolerant Control for Unmanned Thrust-Vectoring Aircraft Based on Sliding-Mode Observer

Bingqian Li,Wenhan Dong,Xiaoshan Ma

doi:10.1051/jnwpu/20183650978

Abstract

In this paper, a backstepping fault-tolerant control based on sliding-mode observer is proposed for the unmanned thrust-vectoring aircraft (UTVA) control. First, the UTVA model with the uncertainty, control surface damage and actuator faults is described, which is divided into fast loop and slow loop. Next, the cascade observers including a high-order SMO and the discontinuous projection adaptive law are proposed to estimate the states with compensating the uncertainty and control surface damage, and the sliding-mode observer is designed to identify actuator faults and estimate fault parameters. Then, the backstepping fault-tolerant control combining the estimation of states and fault parameters is proposed to achieve the global fault-tolerant control, which compensates the uncertainty, control surface damage and actuator faults. Finally, simulation results are given to demonstrate the effectiveness for UTVA.

Highlights

当 θ^ i = θ imax 时,则 θ􀭴i ≥ 0 且 Projθ^ i( Ψτ) i = 0。又因为 ∗i > 0,则 τ > 0。可以得到,对于 ∀τ 成立; 当 θ^ i = θ imin 时,则 θ􀭴i ≤ 0 且 Proj (θ^ i Ψτ) i = 0。又因为 ∗i < 0, 则 τ < 0。可以得到
[4] 陈经纬, 陈康, 尚妮妮, 等. 基于气动力 / 推力矢量控制的飞行器性能分析[ J] . 西北工业大学学报, 2014, 32( 6) : 877⁃881 Chen Jingwei, Chen Kang, Shang Nini, et al Performance Analysis of Hypersonic Vehicle Based on Aerodynamic / Thrust Vector Control[ J]

Summary

Introduction

当 θ^ i = θ imax 时,则 θ􀭴i ≥ 0 且 Projθ^ i( Ψτ) i = 0。又因为 ∗i > 0,则 τ > 0。可以得到,对于 ∀τ 成立; 当 θ^ i = θ imin 时,则 θ􀭴i ≤ 0 且 Proj (θ^ i Ψτ) i = 0。又因为 ∗i < 0, 则 τ < 0。可以得到 Ω􀭾TP􀭹d + (􀭹dT􀭹d1 - 􀭹dTL0( ω􀭾)􀭹d) + 1 ω􀭾TQω􀭾+ ω􀭾TP􀭹d + 2 (􀭹dT􀭹d1 - 􀭹dTL0( ω􀭾)􀭹d) + (􀭹dT1 􀭹d2 - 􀭹dT1 L1( ω􀭾)􀭹d1 ) + Ai σ^ i( δi σ^ i = sgn[ ai δ􀭴si( δi - δci ) ]

Results

Conclusion