Reconfiguration control method for non-redundant actuator faults on unmanned aerial vehicle

Abstract

In this article, an indirect continuous and discrete Fault-Tolerant Control scheme is applied to the longitudinal dynamics of a fixed-wing unmanned aerial vehicle. To address the problem raised by a possible engine fault, the FTC method is adapted to non-redundant actuator faults by considering signatures on residuals, designing discounted cost optimal controllers, using rolling horizon techniques and considering actuator dynamics in the state equation. The efficiency of the proposed approach is demonstrated on a scenario involving thrust and elevon faults during a landing procedure.