In this article, an adaptive fault-tolerant control scheme is proposed for nonlinear systems with actuator redundancy. To simultaneously consider multiple types of actuator faults and enable the use of an ideal system with nonlinear dynamics, the $\mathcal {L}_1$ adaptive control scheme for nonlinear time-varying reference systems is extended to systems with redundant inputs and an input gain uncertainty. The time-varying state-dependent additive uncertainty and the effectiveness of each input are selected as the adaptive parameters. A fixed, predictable control allocation is achieved through a feedback loop within the control block. The conditions for the performance bounds on the system relative to the ideal system are derived. It is shown that the performance bounds can be arbitrarily improved by increasing the adaptation rate and the feedback gain. The proposed adaptive control scheme is applied to the fault-tolerant control of an aircraft using a backstepping controller as a baseline controller, and numerical simulations are conducted to demonstrate the performance of the proposed controller for various fault scenarios. Monte Carlo simulations are conducted to verify the robustness property of the proposed controller.
Adaptive Fault Tolerant Flight Control for Input Redundant Systems Using a Nonlinear Reference Model
IEEE Transactions on Aerospace and Electronic Systems ; 57 , 5 ; 3337-3356
2021-10-01
3990915 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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