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Dynamic surface active fault tolerant control design for the attitude control systems of UAV with actuator fault

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Abstract

In this paper, an active fault tolerant control (FTC) approach based on transient performance index is proposed for the attitude control systems of unmanned aerial vehicle (UAV) with actuator fault. The nonlinear attitude control system model for UAV with actuator faults is given, which represents the dynamic characteristics of UAV. A fault diagnosis component is used for fault detection and estimation. According to the fault estimation information obtained during the fault diagnosis, the fault tolerant control scheme is developed by adopting the adaptive dynamic surface control technique, which guarantees the asymptotic output tracking and ultimate uniform boundedness of the closed-loop attitude control systems of UAV in actuator faulty case. Further, a prescribed transient performance of the FTC attitude control systems is considered which characterizes the convergence rate and maximum overshoot of the attitude tracking error. Finally, simulation results are shown that the attitude control system states remain bounded and the output tracking errors converge to a neighborhood of zero.

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Authors and Affiliations

  1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, and Key Laboratory of Unmanned Aerial Vehicle Technology, Nanjing University of Aeronautics and Astronautics, Ministry of Industry and Information Technology, No. 29 Yu Dao Street, Nanjing, 210016, China

    Mo-Shu Qian, Bin Jiang & Hugh Hong-Tao Liu

Authors
  1. Mo-Shu Qian
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  2. Bin Jiang
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  3. Hugh Hong-Tao Liu
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Corresponding author

Correspondence to Bin Jiang.

Additional information

Recommended by Associate Editor Jiuxiang Dong under the direction of Editor Myotaeg Lim. This journal was supported by the National Natural Science Foundation of China (61273171, 61403195, 61428303), the Natural Science Foundation of Jiangsu Province, China (BK20131364, SBK2014042586), Aeronautics Key Laboratory Foundation of China (Grant No. 20148052038), the Priority Academic Program Development of Jiangsu Higher Education Institutions, the Fundamental Research Funds for the Central Univerities (NE2014202, NJ20160051).

Mo-Shu Qian is currently a Ph.D. candidate with the College of Automation Engineering in Nanjing University of Aeronautics and Astro-nautics. Her research interests in-clude fault tolerant control and its applications in UAV.

Bin Jiang was born in Jiangxi, China, in 1966. He obtained the Ph.D. degree in Automatic Control from Northeastern University, Shenyang, China, in 1995. He had ever been postdoctoral fellow, research fellow, invited professor and visiting profe-ssor in Singapore, France, USA and Canada, respectively. Now he is a Chair Professor of Cheung Kong Scholar Program in Ministry of Education and Dean of College of Automation Engineering in Nanjing University of Aeronautics and Astronautics, China. He currently serves as Associate Editor or Editorial Board Member for a number of journals such as IEEE Trans. On Control Systems Technology; IEEE Trans. On Fuzzy Systems; Int. J. of Control, Automation and Systems; Nonlinear Analysis: Hybrid Systems; Int. J. of Applied Mathematics and Computer Science; Mathematical Problem in Engineering; Acta Automatica Sinica; Journal of Astronautics. He is a senior member of IEEE, Chair of Control Systems Chapter in IEEE Nanjing Section, a member of IFAC Technical Committee on Fault Detection, Supervision, and Safety of Technical Processes. His research interests include intelligent fault diagnosis and fault tolerant control and their applications.

Hugh Hong-Tao Liu is a professor at the University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Canada. His research work over the past several years has included a number of aircraft systems and control related areas. He has published over 200 technical papers in peer reviewed journals and conference proceedings. Dr. Liu received his Ph.D. in mechanical engineering of the University of Toronto in 1998. He is a Fellow of CSME, an Associate Fellow of AIAA and active member of IEEE and CASI. Dr. Liu is also a registered Professional Engineer in Ontario.

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Qian, MS., Jiang, B. & Liu, H.HT. Dynamic surface active fault tolerant control design for the attitude control systems of UAV with actuator fault. Int. J. Control Autom. Syst. 14, 723–732 (2016). https://doi.org/10.1007/s12555-015-0020-4

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  • DOI: https://doi.org/10.1007/s12555-015-0020-4

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