Reconfiguration Control Design of UAV against Actuator Faults Based on Control Allocation Method

Abstract

The paper concentrates on the problem of fault-tolerant control of UAV against actuator faults from the perspective of flight control system architecture. Using backstepping control method and inverse optimization theory, the design of backstepping optimal control law was constructed. Based on the fault monitoring mechanism of vehicle management computer in the distributed flight control and control allocation system, a fault-tolerant control design method was established in the case of multiple failure modes of the actuators, which compensates the influence caused by the failures. Finally, the effectiveness of the proposed strategy was verified by numerical simulation.