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

doi:10.12382/bgxb.2023.0351

Abstract

Abstract:

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.

Key words: flying-wing UAV, flight envelope constraint, Nussbaum gain, adaptive control, fault-tolerant control

CLC Number:

V249

YU Zhilong, LI Yinghui, PEI Binbin, XU Wenfeng, DUAN Xiaocong, SONG Kexin. Robust Adaptive Fault-tolerant Attitude Control of Flying-wing UAVs with Flight Envelope Constraints[J]. Acta Armamentarii, 2024, 45(1): 231-240.

Figures/Tables 7

Fig.1 Configuration of control surface of tailless flying-wing UAV

Fig.2 Control structure of the proposed robust adaptive control scheme

Fig.3 Attitude and its tracking errors of the flying-wing UAV with the proposed method and the method in Ref.[20]

Fig.4 Angular velocity and its tracking errors of the flying-wing UAV with the proposed method and the method in Ref.[20]

Table 1 Performance evaluation for different control schemes

方法	姿态			角速度			E	AAD
方法	RMSE	IAE	ITAE	RMSE	IAE	ITAE	E	AAD
本文方法	0.150	1.050	14.927	1.180	12.356	193.883	530	210
文献[20]方法	0.230	2.442	39.272	1.677	24.2153	394.294	588	235

Fig.5 Actuator deflection trajectories of flying-wing UAV

Fig.6 Curves of Nussbaum gain

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