Research On Fault-tolerant Flight Control Of UAV Based On Smipie Adaptive Control

With the increasing requirements for the reliability and accuracy of the modern unmanned aerial vehicle(UAV)control systems,the research on fault-tolerant control technology of UAV control systems has attracted attention in related research fields.Simple adaptive control(SAC)is a kind of passive fault-tolerant control with good fault-tolerance capability.It automatically corrects related parameters online to compensate for the impact of faults.In practice,the UAV’s actuator has physical limitations such as maximum amplitude.Especially when a fault occurs,this physical limitation makes the actuator likely to enter the saturation zone and fail to achieve the desired control effect.Therefore,it has great theoretical value and practical significance to study a SAC method with anti-windup capability.In this paper,several simple adaptive control methods with anti-windup capability are proposed,which can achieve the safety control of UAV under the circumstances of actuator fault,system parameter uncertainty,and actuator saturation.Firstly,a fault-tolerant flight control method based on SAC is designed to solve the fault-tolerant flight control problem of the UAV.Simulation results indicate that the SAC has good fault-tolerant capability.Secondly,the SAC method does not consider the problem of actuator saturation.To tackle this issue,a SAC control with anti-windup compensator and a SAC with anticipatory anti-windup compensator are proposed.The stability of the proposed method is analyzed using Lyapunov’s stability theorem.Simulation results show that the simple adaptive control with anti-windup compensator has good anti-windup ability.Finally,the anti-windup ability of the ordinary anti-windup compensator is limited because of its anti-windup compensation gain is constant.Therefore,a SAC with an adaptive anti-windup compensator is proposed.The anti-windup compensation gain can be changed adaptively according to the saturation condition.The stability of the proposed method is analyzed using Lyapunov’s stability theorem.Simulation results prove the effectiveness of the SAC with an adaptive anti-windup compensator.