Year: 2025
Type: conference-paper
Abstract: To address the degradation of control performance and flight safety issues caused by actuator failures in flying wing UAVs, this paper introduces a reconfiguration strategy that combines active disturbance rejection dynamic inversion with the weighted pseudoinverse method. The strategy follows a modular design approach, dividing the controller into two independent modules: control allocation and control law. The control law employs a cascaded structure combining active disturbance rejection control with dynamic inversion, achieving decoupling of the control channels while providing real-time compensation for external disturbances and system uncertainties, thereby significantly enhancing system robustness. When the actuator fails, the control allocator uses the weighted pseudo-inverse method to reallocate the remaining functional actuators to offset the aerodynamic moment changes caused by the failure, enabling system reconfiguration. Simulation results demonstrate that this reconfiguration method can maintain accurate tracking of control commands even in the presence of actuator failures, ensuring safe UAV flight.
Authors: Hangbiao Meng, Yalei Bai, Bangfei Qian
Institution: Nanjing University of Aeronautics and Astronautics
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4407553829