Active Incremental Nonlinear Dynamic Inversion for Sensor and Actuator Fault-Tolerant Control
D. Atmaca (TU Delft - Control & Simulation)
C.C. de Visser (TU Delft - Control & Simulation)
E. van Kampen (TU Delft - Control & Simulation)
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Abstract
Simultaneous actuator and inertial measurement unit faults pose a significant challenge for flight safety. This study analytically demonstrates the impact of such faults on incremental nonlinear dynamic inversion (INDI)-based controllers and proposes an active fault-tolerant control method that concurrently mitigates these faults and accounts for in-flight turbulence. The method employs an optimal two-stage extended Kalman filter with a higher-order sliding mode differentiator (OTSEKF-HOSM) for inertial measurement unit fault identification, together with a variable forgetting factor recursive least squares (VFF-RLS) algorithm for online on-board model estimation, collectively forming the Active-Adaptive (AA) INDI framework. Numerical simulation results show that AA-INDI outperforms conventional and Adaptive INDI in terms of tracking performance under time-varying inertial measurement faults and sudden actuator failures.