The paper concentrates on the problem of fault-tolerant control of UAV against actuator faults from the perspective of flight control system architecture. Using backstepping control method and inverse optimization theory, the design of backstepping optimal control law was constructed. Based on the fault monitoring mechanism of vehicle management computer in the distributed flight control and control allocation system, a fault-tolerant control design method was established in the case of multiple failure modes of the actuators, which compensates the influence caused by the failures. Finally, the effectiveness of the proposed strategy was verified by numerical simulation.

中文翻译：

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基于控制分配法的无人机执行器故障重构控制设计

本文从飞行控制系统架构的角度重点研究了无人机对执行器故障的容错控制问题。运用反推控制方法和逆优化理论，构建了反推优化控制律设计。基于分布式飞行控制与控制分配系统中飞行器管理计算机的故障监测机制，建立了一种针对执行器多种故障模式的容错控制设计方法，以补偿故障造成的影响。最后通过数值仿真验证了所提策略的有效性。