Robust Adaptive Fault-tolerant Attitude Control of Flying-wing UAVs with Flight Envelope Constraints
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.
flying-wing UAVflight envelope constraintNussbaum gainadaptive controlfault-tolerant control
万方数据
维普
