网络化飞行器执行机构故障自适应容错控制

针对存在随机短时延和外部干扰的网络化飞行器执行机构故障问题，提出了一种自适应容错控制方法。首先利用扩张状态观测器(Extended State Observer, ESO)对系统不确定性进行估计，并构建了自抗扰控制器对不确定性进行补偿。在此基础上，设计了一种基于跟踪误差的自适应容错控制方法。当执行机构发生未知故障后执行机构指令能自适应逼近设计值，使得重构的控制系统精确跟踪参考模型。最后利用Lyapunov函数方法证明了闭环控制系统的有界稳定。数值仿真校验了所提方法的有效性。

Adaptive Actuator Failure Tolerant Control for Networked Flight Vehicle

For a networked flight vehicle with random short delay, external disturbance and actuator failure, an adaptive fault-tolerant control scheme is put forwarded.The system uncertainty composed of the transforming delay and the disturbance are estimated by using an extended state observer,and compensated by using an active disturbance rejection controller. Then an adaptive fault-tolerant controller based on tracking error is designed to make the actuator command converge to the design value adaptively and enable the reconfigurable control system track the reference model accurately.The stability of the closed loop control system is analyzed by using Lyapunov function. Simulation results show the effectiveness of the proposed method.