Nussbaum-based finite-time fractional-order backstepping fault-tolerant flight control of fixed-wing UAV against input saturation with hardware-in-the-loop validation

Ziquan Yu; Youmin Zhang; Bin Jiang; Chun-Yi Su; Jun Fu; Ying Jin; Tianyou Chai

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Nussbaum-based finite-time fractional-order backstepping fault-tolerant flight control of fixed-wing UAV against input saturation with hardware-in-the-loop validation

机译：基于NUSSBAUM的有限时间分数级QUACHTEPPING FATFET-WING UAV与循环验证硬件验证的输入饱和度

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This paper investigates a new finite-time fault-tolerant control (FTC) using a fractional-order backstepping iterative design strategy for a fixed-wing unmanned aerial vehicle (UAV) in the presence of actuator faults and input saturation. To compensate for the lumped disturbance induced by the actuator faults, a neural network disturbance observer (NNDO) with finite-time observation capability is first developed as the fault diagnostic unit. Then, based on the diagnosed fault information, fractional-order (FO) calculus is artfully utilized to enhance the FTC performance within the backstepping design architecture. The salient feature of the developed control scheme is that the finite-time NNDO and FO calculus are simultaneously used to significantly increase the FTC performance against unexpected actuator faults. Moreover, to address the input saturation problem, the faulty UAV dynamics is augmented by a new auxiliary system. Furthermore, a Nussbaum function is incorporated into the FTC scheme to further avoid the calculation of the inverse gain matrix involved within the auxiliary system. It is shown by Lyapunov analysis that the tracking errors are convergent in finite time. Finally, comparative simulations are conducted to show the effectiveness of the developed FTC scheme. Some hardware-in-the-loop (HIL) experimental results are illustrated to further demonstrate the feasibility of the proposed finite-time fractional-order fault-tolerant control (FTFOFTC) method.

机译：本文通过在执行器故障和输入饱和情况下，使用用于固定翼无人空中车辆（UAV）的分数序列的迭代设计策略来调查新的有限时间容错控制（FTC）。为了补偿由执行器故障引起的集体扰动，首先开发出具有有限时间观察能力的神经网络扰动观察者（NNDO）作为故障诊断单元。然后，基于诊断的故障信息，巧妙地利用分数（FO）计算，以增强BackStepping设计架构内的FTC性能。开发控制方案的凸显特征是，有限时间NNDO和FO微积分同时用于显着增加意外的执行器故障的FTC性能。此外，为了解决输入饱和问题，通过新的辅助系统增强了故障的UAV动态。此外，将Nussbaum功能结合到FTC方案中，以进一步避免计算辅助系统内涉及的逆增益矩阵。它由Lyapunov分析显示，跟踪误差是有限时间的收敛。最后，进行了比较仿真以表明发达的FTC方案的有效性。示出了一些硬件内（HIL）实验结果，以进一步证明所提出的有限时间分数级容错控制（FTFOFTC）方法的可行性。

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来源
《Mechanical systems and signal processing》 |2021年第5期|107406.1-107406.20|共20页
作者
Ziquan Yu; Youmin Zhang; Bin Jiang; Chun-Yi Su; Jun Fu; Ying Jin; Tianyou Chai;
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College of Automation Engineering Nanjing University of Aeronautics and Astronautics. Nanjing 211106 China School of Automation. Northwestern Polytechnical University Xi'an 710129 China;

Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal Quebec H3G 1M8 Canada;

College of Automation Engineering Nanjing University of Aeronautics and Astronautics. Nanjing 211106 China;

Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal Quebec H3G 1M8 Canada;

State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China;

State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China;

State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China;

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正文语种 eng
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Fixed-wing UAV; Fault-tolerant control; Fractional-order calculus; Finite-time; Input saturation; Hardware-in-the-loop;

机译：固定翼UAV;容错控制;分数阶微积分;有限时间;输入饱和度;硬件循环;

Nussbaum-based finite-time fractional-order backstepping fault-tolerant flight control of fixed-wing UAV against input saturation with hardware-in-the-loop validation

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