Linear Parameter-varying Fault-tolerant Control of Morphing Aircraft with Actuator Failures

Xu’en FAN; Guangbin CAI; Tong WU; Yongqiang XIAO; Yiming SHANG

doi:10.12382/bgxb.2025.0045

您当前的位置：

首页 >

文章列表页 >

Linear Parameter-varying Fault-tolerant Control of Morphing Aircraft with Actuator Failures

更新时间：2025-09-25

- Linear Parameter-varying Fault-tolerant Control of Morphing Aircraft with Actuator Failures
- Acta Armamentarii Vol. 46, Issue 8, Pages: 250045(2025)
- 作者机构：
  
  火箭军工程大学导弹工程学院, 陕西西安 710025
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0045
  CLC：
- Received：13 January 2025，
  
  Published Online：28 August 2025，
  
  Published：31 August 2025
- 稿件说明：
移动端阅览
Xu’en FAN, Guangbin CAI, Tong WU, et al. Linear Parameter-varying Fault-tolerant Control of Morphing Aircraft with Actuator Failures[J]. Acta Armamentarii, 2025, 46(8): 250045.
DOI：

Xu’en FAN, Guangbin CAI, Tong WU, et al. Linear Parameter-varying Fault-tolerant Control of Morphing Aircraft with Actuator Failures[J]. Acta Armamentarii, 2025, 46(8): 250045. DOI： 10.12382/bgxb.2025.0045.

摘要

针对变体飞行器在飞行过程中匹配干扰和执行器乘性故障问题

提出一种基于多胞线性变参数(Linear Parameter-Varying

LPV)模型的滑模容错控制方法。基于一类翼展变形变体飞行器的纵向非线性动力学模型

建立变体飞行器的LPV模型。将LPV模型转化为多胞体形式

使无限维数的线性矩阵不等式求解问题转化为有限维数LMI问题。为保证执行器在发生故障时变体飞行器的稳定性和鲁棒性

选取合适的滑模面并设计滑模容错控制律

给出一种增益调度容错控制算法

并应用于变体飞行器进行数值仿真验证。仿真结果表明:所设计的控制器能够保证闭环系统在执行器发生故障时的稳定性和抗干扰能力。

Abstract

A sliding mode fault-tolerant control method based on polytopic linear parameter-varying (LPV) model is proposed to address the matched disturbances and actuator multiplicative failures of morphing aircraft during the flight process.An LPV model of morphing aircraft is established based on the longitudinal nonlinear dynamics model of morphing aircraft undergoing wingspan deformation.The LPV model is transformed into a polytopic form

which can convert the infinite-dimensional linear matrix inequality (LMI) problem into a finite-dimensional LMI problem.In order to ensure the stability and robustness of the morphing aircraft when the system actuator malfunctions

a gain-scheduled fault-tolerant control algorithm is proposed by selecting a suitable sliding mode surface and designing a sliding mode fault-tolerant control law.The fault-tolerant control algorithm is applied to the morphing aircraft for simulation verification.The simulated results show that the fault-tolerant control algorithm can be used to ensure the stability and anti-interference ability of the closed-loop system when the actuator fails.

关键词

Keywords

references

冉茂鹏 , 王成才 , 刘华华 , 等 . 变体飞行器控制技术发展现状与展望 [J ] . 航空学报 , 2022 , 43 ( 10 ): 527449 . DOI: 10.7527/S1000-6893.2022.27449 http://doi.org/10.7527/S1000-6893.2022.27449 变体飞行器可利用变形结构改变气动外形以适应复杂的环境和任务需求，在军事和民用领域均具有极高的发展潜力和应用价值。围绕变体飞行器控制技术这一难度高、发展快、应用前景广阔的研究方向，综述了变体飞行器控制技术的主要研究成果和国内外最新研究进展。首先，结合变体飞行器的发展历程，介绍了变体飞行器的研究背景与意义，指出开展变体飞行器控制技术研究的重要性。其次，对变形决策技术、控制系统建模技术和姿态控制技术等研究成果进行总结与分析。最后，对变体飞行器控制技术的未来研究方向进行了展望。

RAN M P , WANG C C , LIU H H , et al . Research status and future development of morphing aircraft control technology [J ] . Acta Aeronautica et Astronautica Sinica , 2022 , 43 ( 10 ): 527449 . (in Chinese) DOI: 10.7527/S1000-6893.2022.27449 http://doi.org/10.7527/S1000-6893.2022.27449 Morphing aircraft can adapt to the complex environment and mission requirements by changing the aerodynamic shape of the deformed structure. It has high development potential and application value in military and civil fields. In this paper, the main research achievements and the latest research progress of the control technology of morphing aircraft are reviewed. Firstly, the background and significance of morphing aircraft control technology are briefly introduced. Secondly, the research results of deformation decision technology, control system modeling and attitude control technology are summarized and analyzed. Finally, the important research directions in the control technology of morphing aircraft are also discussed.

王青 , 刘华华 , 屈东扬 . 一种基于DDPG的变体飞行器智能变形决策方法 [J ] . 宇航学报 , 2024 , 45 ( 10 ): 1560 - 1567 .

WANG Q , LIU H H , QU D Y . An intelligent deformation decision-making method for morphing aircraft based on deep deterministic policy gradient [J ] . Journal of Astronautics , 2024 , 45 ( 10 ): 1560 - 1567 . (in Chinese)

BAO C Y , WANG P , TANG G J . Integrated method of guidance,control and morphing for hypersonic morphing vehicle in glide phase [J ] . Chinese Journal of Aeronautics , 2021 , 34 ( 5 ): 535 - 553 .

孟志鹏 , 杨柳庆 , 王波 , 等 . 基于改进平衡优化算法的折叠翼飞行器自抗扰控制器设计 [J ] . 北京航空航天大学学报 , 2024 , 50 ( 8 ): 2449 - 2460 .

MENG Z P , YANG L Q , WANG B , et al . ADRC design for folding wing vehicles based on improved equilibrium optimization algorithm [J ] . Journal of Beijing University of Aeronautics and Astronautics , 2024 , 50 ( 8 ): 2449 - 2460 . (in Chinese)

薛涵冰 . 面向变体飞行器纵向飞行的模型预测控制研究 [D ] . 郑州 : 河南工业大学 , 2024 .

XUE H B . Research on model predictive control for longitudinal flight of morphing aircraft [D ] . Zhengzhou : Henan University of Technology , 2024 . (in Chinese)

郭鸿飞 , 宁国栋 , 张科南 , 等 . 基于深度强化学习的变体飞行器智能参数整定 [J ] . 空天技术 , 2024 ( 5 ): 60 - 70 .

GUO H F , NING G D , ZHANG K N , et al . Intelligent parameter adjusting of morphing aircraft based on deep reinforcement learning [J ] . Aerospace Technology , 2024 ( 5 ): 60 - 70 . (in Chinese)

王帅 , 晁涛 , 韩宇辰 , 等 . 变体飞行器变形策略与控制方法研究进展 [J ] . 战术导弹技术 , 2024 ( 4 ): 1 - 15 .

WANG S , CHAO T , HAN Y C , et al . Research progress on morphing strategies and control methods for morphing aircraft [J ] . Tactical Missile Technology , 2024 ( 4 ): 1 - 15 . (in Chinese).

YAN B B , LI Y , DAI P , et al . Aerodynamic analysis,dynamic modeling,and control of a morphing aircraft [J ] . Journal of Aerospace Engineering , 2019 , 32 ( 5 ): 04019058 .

丁天雲 , 夏逸 , 梅泽伟 , 等 . 基于DDPG的变外形航天飞行器碰撞规避的轨迹规划方法 [J ] . 兵工学报 , 2024 , 45 ( 11 ): 3903 - 3914 . DOI: 10.12382/bgxb.2023.1182 http://doi.org/10.12382/bgxb.2023.1182 针对变外形航天飞行器制导与变形决策强耦合问题,提出了基于深度确定性策略梯度(Deep Deterministic Policy Gradient, DDPG)变外形碰撞规避的轨迹规划方法。依托变形参量建立变外形航天飞行器运动学模型,设计具有射程误差校正功能的纵向制导律和基于视线角偏差的横向制导律,实现绕飞障碍物并保证制导精度。建立适用于连续变外形的马尔可夫决策模型,以攻角、马赫数以及飞行器与障碍物的相对距离为状态空间,设计考虑碰撞的势场惩罚函数及满足制导精度的奖励函数,并构建DDPG网络实现状态空间到动作的尺度变换,得到最优外形决策指令。仿真结果表明:与固定外形航天飞行器相比,通过对外形最优决策,提高了航天飞行器制导精度和横向避障能力,降低了对机载雷达感知能力的要求,节省了感知成本。

DING T Y , XIA Y , MEI Z W , et al . DDPG-based trajectory planning method for collision avoidance of morphing spacecraft [J ] . Acta Armamentarii , 2024 , 45 ( 11 ): 3903 - 3914 . (in Chinese)

GUO T H , HOU Z X , ZHU B J . Dynamic modeling and active morphing trajectory-attitude separation control approach for gull-wing aircraft [J ] . IEEE Access , 2017 , 5 : 17006 - 17019 .

GONG L G , WANG Q , DONG C Y . Disturbance rejection control of morphing aircraft based on switched nonlinear systems [J ] . Nonlinear Dynamics , 2019 , 96 ( 2 ): 975 - 995 .

张远 , 黄万伟 , 路坤锋 , 等 . 高超声速变外形飞行器建模与有限时间控制 [J ] . 北京航空航天大学学报 , 2022 , 48 ( 10 ): 1979 - 1993 .

ZHANG Y , HUANG W W , LU K F , et al . Modeling and finite-time control for hypersonic morphing flight vehicle [J ] . Journal of Beijing University of Aeronautics and Astronautics , 2022 , 48 ( 10 ): 1979 - 1993 . (in Chinese)

LIU X D , XU Y , LUO J Q . An asymmetrically variable wingtip anhedral angles morphing aircraft based on incremental sliding mode control:Improving lateral maneuver capability [J ] . Chinese Journal of Aeronautics , 2025 , 38 ( 1 ): 103166 .

CAI G B , YANG Q , MU C X , et al . Design of LPV controller for morphing aircraft using inexact scheduling parameters [J ] . IET Control Theory and Applications , 2023 , 17 ( 4 ): 493 - 503 .

WEN N , LIU Z H , SUN Y , et al . Design of LPV-based sliding mode controller with finite time convergence for a morphing aircraft [J ] . International Journal of Aerospace Engineering , 2017 : 1 - 20 .

MAZEN F . LPV control and analysis under uncertain initial conditions [J ] . Automatica , 2021 , 132 : 109810 .

WEN N , LIU Z H , ZHU L P . Linear-parameter-varying-based adaptive sliding mode control with bounded L2 gain performance for a morphing aircraft [J ] . Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering , 2019 , 233 ( 5 ): 1847 - 1864 .

VINCO G M , SENAME O , STRUB G , et al . Linear parameter-varying polytopic modeling and control design for guided projectiles [J ] . Journal of Guidance,Control,and Dynamics , 2024 , 47 ( 3 ): 433 - 447 .

ESLAMDOUST M , TOLOEI A R , VALI A R . Fault tolerant control (FTC) scheme for unmanned aerial vehicles (UAV) [J ] . International Journal of Computer Applications , 2015 , 126 ( 3 ): 10 - 14 .

程昊宇 , 董朝阳 , 江未来 , 等 . 变体飞行器故障检测与容错控制一体化设计 [J ] . 兵工学报 , 2017 , 38 ( 4 ): 711 - 721 . DOI: 10.3969/j.issn.1000-1093.2017.04.012 http://doi.org/10.3969/j.issn.1000-1093.2017.04.012 针对一类后掠翼可变的变体飞行器，考虑同时存在状态时滞和随机丢包的网络环境，基于切换系统理论，研究了变体飞行器闭环故障检测滤波器的设计问题。将变体飞行器建模成以高度、马赫数和后掠角为参变量的切换系统。为了保证系统能够有效检测出系统故障并且跟踪指令信号，基于一体化方法，设计基于模态依赖观测器的故障检测滤波器和基于残差估计的输出容错控制器。通过多Lyapunov-Krasovskii函数方法和平均驻留时间方法分析系统在异步切换情况下的稳定性。以线性矩阵不等式的形式给出满足给定性能指标滤波器和控制器存在的充分条件。通过仿真验证了所提方法能够有效检测出故障，输出信号能够准确跟踪指令信号，且在不确定情况下具有较好的鲁棒性。

CHENG H Y , DONG C Y , JIANG W L , et al . Integrated fault detection and fault tolerant control for morphing aircraft [J ] . Acta Armamentarii , 2017 , 38 ( 4 ): 711 - 721 . (in Chinese)

ALWI H , EDWARDS C . LPV sliding mode fault tolerant control of an octorotor using fixed control allocation [C ] // Proceedings of 2013 Conference on Control and Fault-Tolerant Systems . Nice,France : IEEE , 2013 : 772 - 777 .

WANG X , ZHAO J , QIAN J , et al . Adaptive fault tolerant control for a quadrotor under actuator faults [C ] // Proceedings of 2019 Chinese Control Conference . Guangzhou,China : IEEE , 2019 : 5079 - 5084 .

殷明 . 变体飞行器变形与飞行的协调控制问题研究 [D ] . 南京 : 南京航空航天大学 , 2016 .

YIN M . Coordinated control of deformation and flight for morphing aircraft [D ] . Nanjing : Nanjing University of Aeronautics and Astronautics , 2016 . (in Chinese)

PARK B Y , YUN S W , PARK P . H 2 state-feedback control for LPV systems with input saturation and matched disturbance [J ] . Nonlinear Dynamics , 2012 , 67 ( 2 ): 1083 - 1096 .

CAI G B , ZHAO Y , QUAN W Z , et al . Design of LPV fault-tolerant controller for hypersonic vehicle based on state observer [J ] . Journal of Industrial and Management Optimization , 2021 , 17 ( 1 ): 447 - 465 .

Views

205

下载量

CNKI被引量

Alert me when the article has been cited

提交

Tools

Publicity Resources

Nonlinear Sliding Mode Control Based on Neural Network Compensation for Tank All-electric Bidirectional Stabilizers

Dynamics Modeling and Stability Control of Marching Tank Gun Control System

Trajectory Tracking Control for Hybrid-driven Unmanned Underwater Vehicles with Free-flying and Crawling Dual-mode

Dynamic Modeling and Attitude Control for Novel Agile Projectile

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

Related Author

Guolai YANG

Darui LIN

Shusen YUAN

Yimin WANG

Bin WANG

Yangyang MIAO

Kuankuan GANG

Qixing YUE

Related Institution

National Key Laboratory of Transient Physics, Nanjing University of Science and Technology

School of Mechanical Engineering, Nanjing University of Science and Technology

National Key Laboratory of Complex Multibody System Dynamics

Institute of Launch Dynamics,Nanjing University of Science and Technology

College of Logistics Engineering, Shanghai Maritime University

Postal code：100089
Tel：010-68963060/68962718 Fax：010-68963025 Email：bgxb@cos.org.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备05059581号-4 京公网安备11010802024360号
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.
Total Visits：44524 Visits Today：504

⁰