L1 Adaptive for Aircraft Lateral Fault Tolerant Control with Actuator Failure

带执行器故障的L1自适应飞行器横侧向容错控制

¹ School of Automation, Northwestern Polytechnical University, Xi'an 710129, China
² School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China

Received: 8 November 2018

Abstract

When aircraft is laterally controlled, actuator failure may cause matched/unmatched uncertainties. In order to deal with the uncertainty, a fault-tolerant controller is designed by using L1 adaptive control method. An aircraft lateral model was established by considering faults and disturbances, the effects of the uncertainty and interference were counteracted by using L1 adaptive controller in order to ensure the rapid adaptation and robustness, and then the stability and transient performance of the closed-loop system were proven through Lyapunov method. In the case of multiplicative fault, additive fault and stuck fault, the uncertainties of model parameter were added to simulate simultaneously. Simulation results showed that the present control method in both single-fault mode and hybrid-failure mode could ensure the uniform bounded control signal and parameter estimation, effectively eliminates the effect of the faults and had the good fault tolerance and robustness.

摘要

在飞行器横侧向控制中，执行器故障可能会引起匹配/非匹配不确定性，为了处理这种不确定性，采用L1自适应控制方法设计容错控制器。建立考虑故障和干扰的飞行器横侧向模型，利用L1自适应控制器抵消不确定性以及干扰的影响，保证快速自适应和鲁棒性，同时通过Lyapunov方法证明闭环系统的稳定性，并分析其暂态性能。在乘性故障、加性故障和卡死故障条件下，同时加入模型参数不确定性进行仿真，仿真结果表明，不论是在单一故障模式还是混合故障模式下所提控制方法均能保证控制信号和参数估计一致有界，有效抵消故障影响，具有良好的容错性和鲁棒性。