In this work a vertically integrated fault-tolerant control scheme for fixed-wing Unmanned Aerial Vehicles (UAVs) is presented. At its core, an online approximate Trim Flight Envelope generator yields the motion constraints of the UAV. Given fault information, it remains always up-to-date in view of emerging faults. The controller stack comprises of Nonlinear Model Predictive Controllers for angular velocity, linear velocity and position. Path Planning is achieved by Simple Sparse Rapidly-exploring Random Trees (SST). Both the controllers and the planner are aware of the flight constraints and are hence tolerant to faults. A large set of sensor and actuator faults, common to UAVs are considered and the controllability of the UAV is examined. Detailed simulations using real-time implementations of the controllers are carried out.

在这项工作中，提出了一种用于固定翼无人机 (UAV) 的垂直集成容错控制方案。在其核心，在线近似修剪飞行包络生成器产生 UAV 的运动约束。鉴于故障信息，它始终保持最新，以应对新出现的故障。控制器堆栈由角速度、线速度和位置的非线性模型预测控制器组成。路径规划是通过简单稀疏快速探索随机树 (SST) 实现的。管制员和计划员都知道飞行限制，因此可以容忍故障。考虑了无人机常见的大量传感器和执行器故障，并检查了无人机的可控性。使用控制器的实时实现进行详细的模拟。