Research On Direct Self-repairing Control Based On Flight Control System

With economic development, the UAV plays an increasingly important role in the national life, andthe reliability and safety of UAV flight control system are paid more and more attentions. Therefore，how to improve the self-repairing capacity becomes a hot topic for the experts. The paper proposedthree different Direct Self-Repairing Control scheme for the UAV flight control system.In the case of the large faults, the paper proposed a Direct Self-Repairing Control (DSRC) schemevia the Model Reference Adaptive Control (MRAC) for the UAV system. The method of a new directself-repairing control is formulated by the paralleled integral and fuzzy control. Consequently, thestable error, the properties of response, and robustness are improved. The simulation results are givento illustrate that a good dynamic performance of the flight control system with large faults can bemaintained with the proposed method.An adaptive controller is designed for a UAV flight control system against faults and parametricuncertainties based on the Popov hyperstability theory. Considering the bounded control input, thestate feedback controller is designed to make the system stable. According to the model referenceadaptive principle, an adaptive control law based on the Popov hyperstability theory is designed. Thislaw enables better robustness of the flight control system and tracking control performances areimproved. The closed-loop system stability is guaranteed by the Popov hyperstability theory.The nonlinear disturbance observer is designed to observe the disturbance of the system, whichconverts the observed disturbance into the corresponding input. Then, the sliding mode control isintroduced to flight control system. A novel method based on the newly FTSM surface is designed. Anadaptive approach is adopted to estimate upper bound of the fault. A novel direct self-repairingcontroller via nonlinear fault observer is designed. At the same time, the globally stability of theDSRC system is achieved.Each scheme proposed in the paper is simulated. The simulations show that all of the schemes areeffective.