In this article, motor failure control of a six-rotor electric vertical take-off and landing (eVTOL) urban air mobility aircraft is investigated using adaptive model predictive control (MPC) based on the linear parameter-varying (LPV) model developed using the nonlinear rigid-body aircraft model. For capturing the aircraft dynamics under motor failure conditions, a family of linearized models are obtained by trimming the nonlinear aircraft model at multiple equilibrium conditions and the LPV model is obtained by linking the linear models using the failed rotor speed, where the system transition from healthy to failure is modeled by a scheduling parameter calculated based on failed rotor speed caused by available motor peak power after failure. The proposed adaptive MPC is developed to optimize the system output performance, including the rigid-body aircraft velocity and altitude, by using quadratic programming optimization with reference compensation subject to a set of time-varying constraints representing the current available propeller acceleration calculated based on the motor power. Simulation study is conducted based on the developed LPV control design and original nonlinear rigid-body model, and the simulation results demonstrate that the designed adaptive MPC controller is able to recover and maintain the aircraft at desired stable condition after motor failure.

在本文中，基于线性参数变化 (LPV) 模型开发的自适应模型预测控制 (MPC) 研究了六旋翼电动垂直起降 (eVTOL) 城市空中机动飞机的电机故障控制。非线性刚体飞机模型。为了捕捉电机故障条件下的飞机动力学，通过在多个平衡条件下修整非线性飞机模型获得一系列线性化模型，并通过使用失效转子速度链接线性模型获得 LPV 模型，其中系统从健康过渡故障由基于故障后可用电机峰值功率引起的故障转子速度计算的调度参数建模。提出的自适应 MPC 是为了优化系统输出性能而开发的，包括刚体飞机的速度和高度，通过使用二次编程优化和参考补偿，受一组时变约束，代表当前可用的螺旋桨加速度，基于电机功率计算。基于开发的LPV控制设计和原始非线性刚体模型进行仿真研究，仿真结果表明设计的自适应MPC控制器能够在电机故障后恢复并保持飞机在理想的稳定状态。