Title: Research on reconfigurable control for a hovering PVTOL aircraft

Authors: Xinli Xu; Chunwei Zhang; Huosheng Hu

Addresses: School of Civil Engineering, Qingdao University of Technology, Qingdao, 266033, China ' School of Civil Engineering, Qingdao University of Technology, Qingdao, 266033, China ' School of Computer Science and Electronic Engineering, University of Essex, Colchester, CO4 3SQ, UK

Abstract: This paper presents a novel reconfigurable control method for the planar vertical take-off and landing (PVTOL) aircraft when actuator faults occur. According to the position subsystem within the multivariable coupling, and the series between subsystems of position and attitude, an active disturbance rejection controller (ADRC) is used to counteract the adverse effects when actuator faults occur. The controller is cascade and ensures the input value of the controlled system can be tracked accurately. The coordinate transformation method is used for model decoupling due to the severe coupling. In addition, the Taylor differentiator is designed to improve the control precision based on the detailed research for tracking differentiator. The stability and safety of the aircraft is much improved in the event of actuator faults. Finally, the simulation results are given to show the effectiveness and performance of the developed method.

Keywords: reconfigurable control; PVTOL; active disturbance rejection controller; ADRC; coordinate transformation; actuator faults; Taylor differentiator.

DOI: 10.1504/IJMIC.2019.103658

International Journal of Modelling, Identification and Control, 2019 Vol.32 No.3/4, pp.232 - 237

Received: 14 Jan 2019
Accepted: 07 Mar 2019
Published online: 18 Nov 2019 *

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