Robust adaptive fault-tolerant control with trajectory optimization

Abstract

This paper proposed an adaptive fault-tolerant flight control scheme where the trajectory optimization is combined with the certainty equivalence principle to achieve the optimal path with occurrence of failures. The nonlinear equations of motions are approximated by a set of LTI models and system matrices are identified on-line with adaptive algorithms to estimate the aerodynamics after failures. The trajectory optimal control problem was then formulated to modify the trajectory commands which can be reached with the achievable control authorities after the failures and thus save the aircraft. Simulations on the modified F-16 aircraft model were conducted and the proposed design was validated for its effectiveness.