Aiming at the tracking control problem of fixed-wing unmanned aerial vehicles(UAV)with actuator compou-nd faults,an adaptive fault-tolerant flight control scheme is developed based on the non-certainty-equivalence(NCE)prin-ciple in this paper.This scheme is capable of estimating the efficiency loss and drift faults in the longitudinal dynamics of UAV and ensuring the optimal index of the closed-loop system after the fault occurring.By introducing the auxiliary syst-em and dynamical scaling factor,the approximating solution is constructed for the partial differential equation of the NCE principle,and the design complexity of the adaptive law is accordingly simplified.In addition,the stability of the closed-loop system is proved by using the Lyapunov stability analysis method.Finally,simulation results show that the developed control scheme can ensure the closed-loop system performance of the UAV even under the fault occurs.
关键词
无人机/非确定性等价/容错控制
Key words
unmanned aerial vehicle/non-certainty-equivalence/fault-tolerant control
维普
万方数据