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Fault-Tolerant control for Fixed-Wing Aircraft with Asymmetric Damage: model, Method, and Experiment

JOURNAL OF GUIDANCE control AND DYNAMICS 2025年第5期48卷 1004-1024页

作者： Du, Zhihui Lyu, Yongxi Zhai, Xianghua Shi, Jingping Qu, Xiaobo Northwestern Polytech Univ Sch Automat Xian 710029 Peoples R China

This study examined the dynamics and control of a fixed-wing aircraft with asymmetric wing damage. A high-fidelity model of a damaged aircraft was developed, and aerodynamic data for this model were acquired using wind-tunnel tests. Based on these data, the dynamic effects of wing damage on the aircraft were analyzed, providing theoretical guidance for the design of the controller. A fault-tolerant reconfiguration control scheme is proposed that includes fast online trimming, a virtual attitude controller, and adaptive control allocation. The trim law enables the aircraft to recover balance quickly after damage, while the adaptive control allocation algorithm reconfigures the remaining control surfaces of the aircraft so that it can track commands. In addition to a numerical simulation, importantly, a flight experiment involving autonomous takeoff and landing processes was used to verify the effectiveness of the proposed control algorithm across the full flight envelope.

关键词： Fixed Wing Aircraft Flight control Surfaces control Derivatives model reference adaptive control Aircraft Wing Design Numerical Simulation Wind Tunnel Tests adaptive control Allocation Algorithm Fault-Tolerant control Asymmetric damage

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Design and HIL Testing of Enhanced MRAC Algorithms to Improve Tracking Performance of LQ-strategies for Quadrotor UAVs 20

Design and HIL Testing of Enhanced MRAC Algorithms to Improv...

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IEEE 20th International Conference on Automation Science and Engineering (CASE)

作者： Martini, Simone Mennea, Salvatore Matteo Mihalkov, Mario Rizzo, Alessandro Valavanis, Kimon Sorniotti, Aldo Montanaro, Umberto Univ Denver Ritchie Sch Engn & Comp Sci Denver CO USA Politecn Torino Turin TO Italy Univ Surrey Sch Mech Engn Sci Guildford GU2 7XH Surrey England

ISBN: (纸本)9798350358513;9798350358520

A novel linear quadratic (LQ) controller coupled with an enhanced model reference adaptive controller (EMRAC) strategy, called LQ-EMRAC strategy, with sigma modification, is designed, implemented and tested for attitude control of quadrotor UAVs via real-time hardware in the loop (HIL) simulated experiments. Compared to the existing LQMRAC algorithm, the proposed LQ-EMRAC strategy exploits an integral adaptive control action and a switching control term to tackle slow varying and high frequency disturbances, respectively. The introduced sigma modification strategy allows for guaranteed boundedness of the adaptive gains. A comparative study with benchmark LQ-MRAC and PID is conducted. Performance evaluation is demonstrated by tracking a helix trajectory considering quadrotor aerodynamic drag, feedback noise, and unknown discrepancies of nominal mass and inertia values. Findings show that the LQ-EMRAC attitude controller achieves better performance than benchmark controllers in terms of attitude root mean square error (RMSE) and can sustain up to a 50% unknown mass and inertia value increase without significant performance degradation. The proposed LQ-EMRAC strategy shows promising results, making it a viable candidate for quadrotor attitude control in critical missions that are affected by disturbances and parameter uncertainties.

关键词： model reference adaptive control

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model-free continuation of periodic orbits in certain nonlinear systems using continuous-time adaptive control

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NONLINEAR DYNAMICS 2023年第6期111卷 4945-4957页

作者： Li, Yang Dankowicz, Harry Univ Illinois Dept Mech Sci & Engn Champaign IL 61820 USA

This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger class of periodically excited nonlinear systems with matched uncertainties and known structure. A candidate adaptive feedback design is also proposed in the case of scalar problems with unmodeled nonlinearities. In the former case, rigorous analysis shows guaranteed performance bounds for the associated prediction and estimation errors. Together with an assumption of persistent excitation, there follows asymptotic convergence to periodic responses determined uniquely by an a priori unknown periodic reference input and independent of initial conditions, as required by the control-based continuation paradigm. In particular, when the reference input equals the sought periodic response, the steady-state control input vanishes. Identical conclusions follow for the case of scalar dynamics with unmodeled nonlinearities, albeit with slow rates of convergence. Numerical simulations validate the theoretical predictions for individual parameter values. Integration with the software package coco demonstrates successful continuation along families of stable and unstable periodic orbits with a minimum of parameter tuning. The results expand the envelope of known noninvasive feedback strategies for use in experimental model validation and engineering design.

关键词： control-based continuation model reference adaptive control Persistent excitation

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Design and implementation of a robust fuzzy adaptive PI controller for inherently unstable systems

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International Journal of Information Technology (Singapore) 2025年第3期17卷 1479-1487页

作者： Swarnkar, Pankaj Goud, Harsh Maulana Azad National Institute of Technology Madhya Pradesh Bhopal India Indian Institute of Information Technology Nagpur India

The desired performance of any process variable depends on the functions of the controller. The control design approach relies on prior knowledge of the process dynamics and its limitations. Many researchers in the field of control consent that controller design can be quite tedious in cases of unstable systems. adaptive control where the controller parameters adjust them self as per the system requirements, is a candidate solution for such problem. This paper mainly focuses on the design of a MRAC model reference adaptive control based PI (Proportional–Integral) controller for an unstable system. The adaptation mechanism is generated using fuzzy logic, which makes the controller adaptable and decreases design requirements. The outcomes are compared with the traditional controller tuned using the ZN (Ziegler–Nichols) approach. Detailed simulation work and experimental validation reveal that the suggested Fuzzy adaptive PI controller works effectively at regulating the unstable system and achieving the desired performance. A prototype experimental model is also created to validate the results. © Bharati Vidyapeeth's Institute of Computer Applications and Management 2024.

关键词： adaptive control Fuzzy logic model reference adaptive control Proportional–integral-derivative controller Ziegler–Nichols

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Improving CubeSat Attitude Tracking Using MRAC for Reaction Wheel Speed with Self-Balancing Testbed Validation

Improving CubeSat Attitude Tracking Using MRAC for Reaction ...

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4th International Conference on Aerospace and Signal Processing

作者： Mayta Pumacota, Erick Paul Pareja Contreras, Josue Manuel Huanca Cayo, Eber Univ Catolica San Pablo Dept Elect & Elect Engn Arequipa Peru

ISBN: (纸本)9798331534240;9798331534233

This paper presents the design and evaluation of a model reference adaptive controller (MRAC) applied to the speed control of a reaction wheel, aimed at enhancing attitude tracking performance, precision, and stability in the Yaw axis of a 3U CubeSat. The control system was validated on a self-balancing Testbed equipped with sliding masses that automatically correct for inclination, in conjunction with an Air-Bearing system that simulates low-friction space conditions. Attitude control is a critical aspect of satellite operations, especially for small platforms like CubeSats, where constraints on volume, mass, and power require efficient and precise control solutions. The novelty of this work lies in the application of PID-Parameter MRAC to reaction wheel speed control, enabling adaptive real-time adjustments of control parameters to improve attitude tracking accuracy and system stability. Compared to traditional PID controllers, the MRAC-based approach demonstrates significant improvements, particularly in handling dynamic variations and uncertainties typical of the space environment. The effectiveness of the MRAC strategy was validated through a series of experiments on the Testbed, involving a variety of reference signals to thoroughly assess tracking performance and stability. Results highlight the clear advantages of MRAC in optimizing reaction wheel-based attitude control for small satellite systems.

关键词： CubeSat model reference adaptive control Reaction Wheel ADCS Air-Bearing Testbed

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Formation control of Uncertain Multi-agent Systems with Non-Identical Actuation Capacities

Formation Control of Uncertain Multi-agent Systems with Non-...

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AIAA SciTech Forum

作者： Kurttisi, Atahan Sarioglu, Eren Dogan, K. Merve Embry Riddle Aeronaut Univ Dept Aerosp Engn Daytona Beach FL 32114 USA Embry Riddle Aeronaut Univ Fdn Autonomous Syst & Technol Lab Daytona Beach FL 32114 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Multi-agent systems offer low-cost and flexible solutions for complex tasks thanks to their advantages and efficient algorithms. One of the most important features of multi-agent systems is operating in a formation for example, carrying a slung-load by using several multi-copters or platooning autonomous trucks. However, building control algorithms to provide formation control is not straightforward as real physical systems are affected by non-linear uncertainties and non-identical actuator-related issues. Being inspired by the nature of the real physical systems, in this research, we focus on designing distributed adaptive control algorithms to obtain formation control for multi-agent systems with uncertainties, unknown actuation efficiency, and actuator dynamics. Specifically, we utilize a leader-follower distance-based consensus algorithm together with adaptive terms to cancel out unknown and undesired effects. To do this, we use hedging-based reference models to decouple adaptation from the actuator dynamics. We analyze the stability of the multi-agent system by using the Lyapunov Stability Theory, and investigate feasible actuator bandwidth limits with the Linear Matrix Inequalities (LMI) method. Finally, we show the efficacy of the designed control law on a multi-agent system with both on undirected line graph and a fully connected graph. In addition, the results of this paper is compared with the previous results given in [1].

关键词： Multi Agent System Actuators model reference adaptive control Consensus Algorithm adaptive control Algorithm American Institute of Aeronautics and Astronautics Feedback control System

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Fault-Tolerant Attitude control of Hypersonic Flight Vehicles Based on Extended adaptive Iterative Learning 20th

Fault-Tolerant Attitude Control of Hypersonic Flight Vehicle...

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20th Chinese Intelligent Systems Conference

作者： Chen, Chang Guo, Jian Zhou, Chuan Cao, Xiaolei Liu, Hao Jia, Zhiqiang Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Peoples R China Beijing Aerosp Automat Control Inst Beijing 100039 Peoples R China

ISBN: (纸本)9789819786565;9789819786541;9789819786534

This paper proposes an attitude fault-tolerant control scheme for hypersonic flight vehicles based on extended adaptive iterative learning. Firstly, the integral of tracking error is introduced as an extended state variable. Then, a controller based on iterative learning is designed to obtain the optimal feedback control law without faults. Additionally, for multiplicative faults in actuators, a model reference adaptive unit is expansively added to improve the system's robustness under faulty conditions by tracking a reference model. Finally, the stability of the two control modules is proven, and the method is validated in a Matlab simulation environment to achieve good attitude control performance in both fault-free and faulty scenarios.

关键词： Hypersonic flight vehicle Iterative learning model reference adaptive control Fault-tolerant control

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Advanced Algorithms for Verification and Validation of Flexible Aircraft with adaptive control

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JOURNAL OF GUIDANCE control AND DYNAMICS 2023年第3期46卷 600-607页

作者： Wagner, Daniel Henrion, Didier Hromcik, Martin Czech Tech Univ Fac Elect Engn Tech 2 Prague 16626 Czech Republic Ctr Natl Rech Sci Lab Anal & Architecture Syst 7 Ave Colonel Roche F-31400 Toulouse France

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Fractional order output-feedback tube-MRAC design for a class of fractional order transfer functions with unknown parameters

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INTERNATIONAL JOURNAL OF AUTOMATION AND control 2023年第3期17卷 287-305页

作者： Balaska, Hanane Ladaci, Samir Skikda Univ Dept Elect Engn Route Elhadaiek Skikda Algeria Natl Polytech Sch Algiers Dept Automatics Algiers 16200 Algeria Univ Constantine 1 Dept Elect Lab Lab Constantine 25000 Algeria

In this paper, we address a class of fractional order systems defined by transfer function with unknown parameters and present a novel fractional order tube model reference adaptive control (FOTMRAC) design for their control despite the fact that the only available signals are the input and output of the system. This is the main difference with preceding authors' recent study, where the states of the system where available. Based on the output feedback, this strategy is a generalisation of the tube model reference adaptive control (TMRAC) to fractional order systems. The basic idea is to replace the single reference trajectory well known in reference model control theory by a set of admissible trajectories called tube reference. Also, an optimisation problem is resolved online in order to update the correction control signal minimising a control cost criterion. The asymptotic stability is proved using the Lyapunov extension theorem. Simulation results illustrate and confirm the effectiveness of the proposed control design.

关键词： fractional adaptive control fractional order linear system model reference adaptive control MRAC optimisation criterion output feedback performance tube unknown parameters

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Fault Tolerant adaptive Stabilization for Multi-Rotor Systems with Actuator Failure

Fault Tolerant Adaptive Stabilization for Multi-Rotor System...

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AIAA SciTech Forum

作者： Zelina, John Prazenica, Richard J. Embry Riddle Aeronaut Univ Dept Aerosp Engn Daytona Beach FL 32114 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

In aerospace systems, an emphasis is placed on controller robustness as significant safety risks are present. Due to the difficulty of predicting uncertainties, such as external disturbances, time varying effects or actuator degradation and failure, robust control can be achieved in two distinct ways. The first approach is to design a control law to be tolerant to a large amount of uncertainty, and the second is to design a control law that can adapt to changing system parameters. This paper investigates the development and implementation of adaptive control laws to stabilize and control the attitude dynamics of a class of multi-rotor systems experiencing actuator degradation and failure. A direct model reference adaptive controller, which includes a hedging term in the reference model to account for actuator dynamics, is applied to ensure stability in the presence of these uncertainties. A representative system corresponding to a multi-rotor vehicle is presented. Simulation results are provided demonstrating the effectiveness of the proposed direct adaptive controller with actuator hedging to provide attitude stabilization and enable the tracking of reference attitude trajectories when the system is subjected to actuator degradation and failure.

关键词： Multi Rotor Actuators model reference adaptive control Rotor Systems Attitude Stabilization adaptive control Systems Aerospace System Quadrotor Mathematical models Feedback control

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