基于控制分配的一类变体飞行器容错控制

针对一类含有执行器故障的新型操纵面变体飞行器的容错控制问题，将控制分配方法和整数规划理论相结合，提出了一种基于控制分配的容错控制方法.首先设计虚拟控制律，使飞行器的状态变量跟踪参考模型.然后通过执行阵列重构将执行器的概率性故障及饱和约束转化为整数规划中的决策变量的约束，进而将控制分配问题转换成一类决策变量概率可变的整数规划问题.为保证解算的有效性及收敛性，运用改进的遗传算法进行求解.仿真结果表明，飞行器在执行器发生故障的情形下，仍具有良好的跟踪性能. 

Fault tolerant control based on control allocation for morphing aircraft model

To cope with the fault tolerant control problem of innovative control effectors (ICE) morphing aircraft with actuator fault, employing control allocation method and theory of integer programming, a fault tolerant control scheme based on control allocation was proposed. Firstly, virtual control law was designed to assure that the ICE aircraft can track a desired reference model. Afterwards, the probabilistic fault and saturation constraint of actuators were translated into decision variables constraint of integer programming by the reconfiguration of distributed shape-change effector arrays. In this way, the problem of control allocation was considered as a class of integer programming problem with probabilistic decision variables. To ensure availability and convergence, optimized genetic algorithm was used to solve the problem. Simulation results shows that ICE aircraft with actuator fault also has good tracking performance.