In this article, an adaptive fault-tolerant control scheme is proposed for nonlinear systems with actuator redundancy. To simultaneously consider multiple types of actuator faults and enable the use of an ideal system with nonlinear dynamics, the L1\mathcal {L}_1 adaptive control scheme for nonlinear time-varying reference systems is extended to systems with redundant inputs and an input gain uncertainty. The time-varying state-dependent additive uncertainty and the effectiveness of each input are selected as the adaptive parameters. A fixed, predictable control allocation is achieved through a feedback loop within the control block. The conditions for the performance bounds on the system relative to the ideal system are derived. It is shown that the performance bounds can be arbitrarily improved by increasing the adaptation rate and the feedback gain. The proposed adaptive control scheme is applied to the fault-tolerant control of an aircraft using a backstepping controller as a baseline controller, and numerical simulations are conducted to demonstrate the performance of the proposed controller for various fault scenarios. Monte Carlo simulations are conducted to verify the robustness property of the proposed controller.

中文翻译：

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使用非线性参考模型的输入冗余系统的自适应容错飞行控制


在本文中，提出了一种针对具有执行器冗余的非线性系统的自适应容错控制方案。为了同时考虑多种类型的执行器故障并能够使用具有非线性动力学的理想系统，非线性时变参考系统的 L1\mathcal {L}_1 自适应控制方案被扩展到具有冗余输入和输入增益不确定性的系统。选择时变状态相关的加性不确定性和每个输入的有效性作为自适应参数。通过控制块内的反馈回路实现固定的、可预测的控制分配。推导出系统相对于理想系统的性能界限的条件。结果表明，可以通过增加自适应率和反馈增益来任意提高性能界限。所提出的自适应控制方案应用于使用反步控制器作为基线控制器的飞机的容错控制，并进行数值仿真以证明所提出的控制器在各种故障情况下的性能。进行蒙特卡罗仿真以验证所提出的控制器的鲁棒性。