Hybrid fault-tolerant flight control against actuator faults and input saturation: a set-invariance approach

A novel fault-tolerant flight control system subject to actuator faults is studied in the framework of linear matrix inequality (LMI) approach. The deflection limits of control surfaces are taken into consideration explicitly in the design process. A set-invariance condition is proposed to obtain the design parameters. To improve the system performance, the regional pole placement problem is also addressed and the related LMI condition can be taken as an additional D-stability constraint. The proposed hybrid fault-tolerant control method combines the benefits of a nominal controller and a reliable controller. The reliable controller is switched in only when a fault has been detected by an observer-based fault detector, which reduces the conservativeness of a pure passive fault-tolerant control system. Same control structure is shared by both the nominal and reliable controllers, which simplify the design process further. Moreover, the stability of the closed-loop system can always be guaranteed in disturbance-free situation with zero initial residuals. The design techniques are applied to the pitch and roll attitude tracking control of a flying-wing unmanned aerial vehicle (UAV). Numerical studies indicate that stable output tracking is always achieved for both the wind-free and wind-present cases. When the wind is imposed, the stability of the closed-loop system is closely related to the observer gain which determines the detection delay.

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