Backstepping Fault-Tolerant Control for Unmanned Thrust-Vectoring Aircraft Based on Sliding-Mode Observer

基于滑模观测器的无人推力矢量飞机反步容错控制

¹ Postgraduate College, Air Force Engineering University, Xi’an 710038, China
² Aeronautics Engineering College, Air Force Engineering University, Xi’an 710038, China

Received: 9 September 2017

Abstract

In this paper, a backstepping fault-tolerant control based on sliding-mode observer is proposed for the unmanned thrust-vectoring aircraft (UTVA) control. First, the UTVA model with the uncertainty, control surface damage and actuator faults is described, which is divided into fast loop and slow loop. Next, the cascade observers including a high-order SMO and the discontinuous projection adaptive law are proposed to estimate the states with compensating the uncertainty and control surface damage, and the sliding-mode observer is designed to identify actuator faults and estimate fault parameters. Then, the backstepping fault-tolerant control combining the estimation of states and fault parameters is proposed to achieve the global fault-tolerant control, which compensates the uncertainty, control surface damage and actuator faults. Finally, simulation results are given to demonstrate the effectiveness for UTVA.

摘要

针对无人推力矢量飞机，设计了基于滑模观测器的反步容错控制。首先提出执行器故障模型，并将本体方程分为快、慢回路，建立包含不确定性、舵面故障和执行器故障的无人推力矢量飞机故障模型，然后设计包含高阶滑模观测器及不连续投影自适应律的级联观测器实现补偿不确定性和舵面故障的状态估计，并通过滑模观测器实现故障辨识和故障参数估计，最后结合状态估计及故障参数实现包容不确定性，舵面故障和执行器故障的全局反步容错控制。大迎角机动仿真表明所提方法能够有效实现无人推力矢量飞机的全局容错控制。