PID-type fault-tolerant prescribed performance control of fixed-wing UAV

Abstract

This paper introduces a fault-tolerant control (FTC) design for a faulty fixed-wing unmanned aerial vehicle (UAV). To constrain tracking errors against actuator faults, error constraint inequalities are first transformed to a new set of variables based on prescribed performance functions. Then, the commonly used and powerful proportional-integral-derivative (PID) control concept is employed to filter the transformed error variables. To handle the fault-induced nonlinear terms, a composite learning algorithm consisting of neural network and disturbance observer is incorporated for increasing flight safety. It is shown by Lyapunov stability analysis that the tracking errors are strictly constrained within the specified error bounds. Experimental results are presented to verify the feasibility of the developed FTC scheme.