Predictor-based Adaptive Incremental Nonlinear Dynamic Inversion for Fault-Tolerant Flight Control∗
Jing Chang (Xidian University)
Zongyi Guo (Northwestern Polytechnical University)
R Breuker (TU Delft - Aerospace Structures & Computational Mechanics)
Sherry Wang (TU Delft - Aerospace Structures & Computational Mechanics)
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Abstract
The sensor-based Incremental Nonlinear Dynamic Inversion (INDI) control has shown promising robustness in the aerospace research field. This control framework only requires a partial knowledge of plant (control effectiveness) because of its usage of angular accelerations and actuator output measurements. However, there are still un-negligible uncertainties of the control effectiveness model in the flight control system, especially when the aircraft is subjected to structural damage/actuator faults. This paper shows that the conventional INDI control fails to satisfy the sufficient conditions for closed-loop stability in the presence of severe damage. Therefore, this paper also proposes a predictor-based gain adaptive INDI control (named PGA-INDI) which can successfully deal with control effectiveness parametric errors caused by structural damage, actuator faults, and model uncertainties. Various simulations using a public aircraft model have demonstrated the effectiveness of the proposed approach.
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