Improved model reference‐based adaptive nonlinear dynamic inversion for fault‐tolerant flight control

Liu, Yu; Liu, Xiaoxiong; Ming, Ruichen; Li, Kecheng; Zhang, Weiguo

doi:10.1002/rnc.6641

Cited by 4 publications

(1 citation statement)

References 47 publications

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“…Li et al 7 addressed an adaptive actuator fault‐tolerant control problem and propose a model reference‐based adaptive nonlinear dynamic inversion (NDI) scheme to improve the robustness of the flight control system. In this scheme, the modified piecewise‐constant adaptation law is used to improve the estimation accuracy of disturbances and a low pass filter is created to prevent the aircraft from oscillating because of the fast adaptation.…”

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confidence: 99%

Editorial

Chen,

Alwi,

Edwards

2023

Intl J Robust & Nonlinear

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The focus of this special issue is to report on some recent developments in the advanced control and estimation fields focussing on aerial robotics, especially those that successfully consider theoretical open problems, as well as efficient implementations in practical applications.The different methodological approaches and topics of study within this special issue demonstrate their capabilities of rejecting disturbances in complex environments, estimating the vehicle's physical parameters or states in the uncertain environment, showing robustness against inherent nonlinearities and modeling uncertainties, and maintaining an acceptable level of robust stability in harsh conditions or even in the face of faults/failures. Fifteen papers are included in this special issue.Wang et al. 1 proposed an adaptive sliding mode fault tolerant control (FTC) strategy for a quadrotor unmanned aerial vehicle (UAV) in the face of actuator faults and model uncertainties. In this strategy, the sliding mode reaching law, which measures the distance between the sliding variable and the designated boundary layer, was constructed to suppress chattering, whilst preserving system tracking performance. Furthermore, an adaptation scheme is developed to prevent overestimation of adaptive parameters during the process of fault compensation. To validate the effectiveness and superiority of the proposed control strategy, a comparative study was conducted via simulation.Zhao et al. 2 considered the FTC problem for a class of quadrotors with variable mass and actuator faults. In this article, the variable mass and actuator fault are both estimated using adaptive fault observers. Using the knowledge of the estimated variable mass, a non-singular terminal sliding mode controller is created to ensure satisfactory trajectory tacking performance. Also, by utilizing the information of the actuator fault estimates, an integral sliding mode controller is designed to track the desired attitude. Simulation results show that the proposed FTC method guarantees good tracking performance in the presence of variable mass, faults and disturbances.Reis et al. 3 addressed the problem of slung load transportation for an underactuated quadrotor requiring the damping of oscillations and external disturbances. The position control strategy involves a sliding mode controller that computes a vectored thrust actuation to damp out the system's oscillations. To ensure good attitude tracking performance, conventional backstepping methods and a sliding mode controller built intrinsically in SO(3), are exploited to control the vehicle's angular velocity and to produce torque commands, respectively. Simulation and experimental results validate the robustness of the proposed technique in a trajectory tracking scenario.Yu et al. 4 investigated the fault-tolerant containment control (FTCC) problem for a group of fixed-wing UAVs and consider fault tolerance and collision avoidance simultaneously. In this article, a fractional-order (FO) FTCC scheme is proposed to steer all follo...

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confidence: 99%