Incipient Fault Detection and Reconstruction Using an Adaptive Sliding-Mode Observer for the Actuators of Fixed-Wing Aircraft

Abstract

This paper proposes a new method of detection and reconstruction of the incipient fault of fixed-wing actuators based on an adaptive sliding-mode observer. First, a mathematical model of a fixed-wing aircraft is derived under certain assumptions, considering nonlinear terms and system disturbances. Second, by introducing a nonsingular coordinate transformation, the incipient faults are separated from the disturbances. For a subsystem with no disturbances, the Luenberger observer can estimate the incipient fault. For a subsystem with disturbances, the sliding-mode observer is robust against these disturbances. The Lyapunov stability theory guarantees dynamic error convergence and system stability. The evaluation function was designed to realize residual evaluation and threshold judgment. Third, based on the concept of equivalent output injection, an adaptive sliding-mode observer method is proposed to reconstruct actuator faults precisely under the condition of the uncertain system structure. The design steps of the proposed reconstruction method are introduced in the form of a linear matrix inequality problem, which provides an effective method for calculating the design parameters. Finally, the simulation results of the De Havilland DHC-2 “Beaver” aircraft demonstrate the correctness and effectiveness of the proposed method.