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An anti-windup fault tolerant control method for tailless flying wing aircraft

机译：无尾翼飞行器的抗饱和容错控制方法

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In this paper, the design of a constrained adaptive backstepping flight control law is discussed for a flying wing aircraft with actuator stuckness or failures, saturation nonlinearity of actuators considered. Faults of actuators are handled by online update laws which can estimate the fault parameters, thus reducing the effect of faults on control accuracy. Second-order low-pass command filters are introduced to limit the deflection angles of elevators and throttle levels, therefore avoiding saturation of actuators and the complex derivative computation in the backstepping process. In addition, control allocation strategy is designed to reduce the effect of faults on the lateral motion. The stability of the closed-loop system and the convergence of parameters are proved. Computer simulation shows that the closed-loop system is stable, the control law tracks reference trajectories well, and the actuators are within their physical limits in the presence of actuator faults.
机译：在本文中，讨论了考虑执行器饱和非线性的具有执行器卡滞或故障的飞翼飞机的约束自适应反推飞行控制律的设计。执行器的故障由在线更新定律处理，该定律可以估计故障参数，从而减少故障对控制精度的影响。引入二阶低通指令滤波器来限制电梯的偏转角和油门水平，从而避免了执行器的饱和和后推过程中的复杂导数计算。此外，控制分配策略旨在减少故障对横向运动的影响。证明了闭环系统的稳定性和参数的收敛性。计算机仿真表明，闭环系统是稳定的，控制律很好地跟踪了参考轨迹，并且在存在执行器故障的情况下，执行器处于其物理极限之内。

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