Abstract
In this paper, a two-loop fault-tolerant attitude control scheme is proposed for flying-wing aircraft with actuator faults. A regular nonlinear dynamic inversion (NDI) control is used in the outer attitude loop, and a finite time convergence incremental nonlinear dynamic inversion (FINDI) control combined with control allocation strategy is used in the inner angular rate loop. Prescribed performance bound (PPB) is designed to constrain the tracking errors within a residual set, so the prescribed system performance can be guaranteed. An optimal anti-windup (AW) compensator is introduced to solve the actuator saturation problem. Simulation results demonstrate the effectiveness of the proposed approach.
Highlights
The flying-wing aircraft has received wide research in recent years for its light weight, good stealth and high control surfaces efficiency [1,2,3]
The configuration of the flying-wing aircraft is shown in Figure 1; two engines are installed on both sides of the blended body symmetrically
In simulation 4, we focus on the compensation of the faulty actuator by control allocation in the inner loop
Summary
The flying-wing aircraft has received wide research in recent years for its light weight, good stealth and high control surfaces efficiency [1,2,3]. As one of the AW methods, the Internal-Model-Control (IMC) type compensator scheme is studied for nonlinear input affine systems by using a state-dependent saturation function in [32,33]. A new PPB-FINDI method with control allocation is proposed for the attitude tracking control of flying-wing aircraft with multiple actuator faults; the fault-tolerant capability of the nonlinear system is improved. Based on the finite time convergence theorem [36], the pseudocontrol input υ is obtained by a non-smooth controller in Equation (17) combined with a reference differential signal, shown in Equation (18). Based on the theorem in [14], the pseudocontrol input υ obtained from Equation (18) is used for the INDI control law, the tracking error will converge to zero in finite time. If there is obvious chattering, we can use the proposed method in [37] to cope with it
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