Observer-based backstepping longitudinal control for carrier-based UAV with actuator faults  

作　　者：Fengying Zheng Ziyang Zhen Huajun Gong 

机构地区：[1]College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China [2]College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

出　　处：《Journal of Systems Engineering and Electronics》2017年第2期322-337,共16页系统工程与电子技术（英文版）

基　　金：supported by the National Nature Science Foundation of China(61304223);the Aeronautical Science Foundation of China(2016ZA52009);the Research Fund for the Doctoral Program of Higher Education of China(20123218120015)

摘　　要：The paper presents the longitudinal control for the carrier-based unmanned aerial vehicle (UAV) system with unmeasured states, actuator faults, control input constraints, and external disturbances. By combining output state observer, adaptive fuzzy control, and constraint backstepping technology, a robust fault tolerant control approach is proposed. An output state observer with fuzzy logic systems is developed to estimate unmeasured states, and command filters rather than differentiations of virtual control law are used to solve the computational complexity problem in traditional backstepping. Additionally, a robust term is introduced to offset the fuzzy adaptive estimation error and external disturbance, and an appropriate fault controller structure with matching conditions obtained from fault compensation is proposed. Based on the Lyapunov theory, the designed control program is illustrated to guarantee that all the closed-loop signals of the given system are bounded, and the output errors converge to a small neighborhood of zero. A carrier-based UAV nonlinear longitudinal model is employed to testify the feasibility and validity of the control scheme. The simulation results show that all the controllers can perform at a satisfactory level of reference tracking despite the existence of unknown aerodynamic parameters and actuator faults. © 2017 Beijing Institute of Aerospace Information.The paper presents the longitudinal control for the carrier-based unmanned aerial vehicle (UAV) system with unmeasured states, actuator faults, control input constraints, and external disturbances. By combining output state observer, adaptive fuzzy control, and constraint backstepping technology, a robust fault tolerant control approach is proposed. An output state observer with fuzzy logic systems is developed to estimate unmeasured states, and command filters rather than differentiations of virtual control law are used to solve the computational complexity problem in traditional backstepping. Additionally, a robust term is introduced to offset the fuzzy adaptive estimation error and external disturbance, and an appropriate fault controller structure with matching conditions obtained from fault compensation is proposed. Based on the Lyapunov theory, the designed control program is illustrated to guarantee that all the closed-loop signals of the given system are bounded, and the output errors converge to a small neighborhood of zero. A carrier-based UAV nonlinear longitudinal model is employed to testify the feasibility and validity of the control scheme. The simulation results show that all the controllers can perform at a satisfactory level of reference tracking despite the existence of unknown aerodynamic parameters and actuator faults. © 2017 Beijing Institute of Aerospace Information.

关 键 词：Actuators Aircraft control BACKSTEPPING Control system analysis Control theory Controllers Error compensation Fault tolerance Flight control systems Fuzzy control Fuzzy filters Fuzzy logic State estimation Three term control systems Unmanned aerial vehicles (UAV) 

分 类 号：E926.392[军事—军事装备学]