Robust Adaptive Fault-tolerant Attitude Control of Flying-wing UAVs with Flight Envelope Constraints

被引：0
|
作者：
Yu Z. [1 ]
Li Y. [1 ]
Pei B. [1 ]
Xu W. [1 ]
Duan X. [2 ]
Song K. [3 ]
机构：
[1] Aviation Engineering School, Air Force Engineering University, Shaanxi, Xi'an
[2] Unit 94657 of PLA, Jiangxi, Jiujiang
[3] Unit 95034 of PLA, Guangxi, Baise
来源：
Binggong Xuebao/Acta Armamentarii | 2024年 / 45卷 / 01期
关键词：
adaptive control; fault-tolerant control; flight envelope constraint; flying-wing UAV; Nussbaum gain;
D O I：
10.12382/bgxb.2023.0351
中图分类号：
学科分类号：
摘要：
To realize the accurate attitude tracking control of flying-wing UAVs in complex circumstances, a robust adaptive fault-tolerant control method based on Nussbaum gain is proposed considering the effects of parameter uncertainties, external disturbances, actuator failures and flight envelope constraints. Based on the disturbed kinematic and dynamic models of a flying wing UAV, a control-oriented attitude control model is developed considering the effects of actuator faults and system uncertainties. The flight envelope constraints and the transient and steady-state performances of attitude tracking errors are ensured by introducing a time-varying barrier Lyapunov function. Then, the effect of lumped uncertainty term and the actuator faults are compensated by adaptive bounded estimation and Nussbaum gain. Finally, the feasibility of the proposed control method is critically demonstrated though stability analysis. The simulated results show that the proposed control method is able to achieve the high-precision attitude tracking control of the flying-wing UAV. © 2024 China Ordnance Industry Corporation. All rights reserved.
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页码：231 / 240
页数：9
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