MPC非线性故障容错控制：应用于吸气式高超声速飞行器

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本研究论文探讨了基于模型预测控制（Model Predictive Control, MPC）的非线性故障容忍控制（Fault Tolerant Control, FTC）在空气呼吸式高超声速飞行器（Air-Breathing Hypersonic Vehicles, AHVs）中的应用。论文发表在《IET Control Theory and Applications》上，收录日期为2013年5月29日，接受日期为同年12月16日，DOI为10.1049/iet-cta.2013.0986，国际标准连续出版物编号为ISSN1751-8644。在当前的研究中，作者们首先回顾了AHV的非线性动力学模型，并指出了设计非线性FTC的挑战。由于飞行动态与控制输入之间的关系并不明显，传统的控制方法可能难以应对系统复杂性。为了克服这个问题，论文提出了一种优化为基础的参考重构方法。这种方法通过动态调整控制策略，即使在面对系统故障或不确定性时，也能保证AHV的稳定性和性能。重构过程的关键在于建立一个能够适应飞行状态变化的在线模型，这可能包括使用数据驱动的方法来捕捉非线性系统的动态特性。在模型预测控制框架下，控制器会预测未来多个时间步的系统行为，然后选择最优控制输入序列，使得在预设的故障情况下，系统仍能保持在安全的操作区域内，并尽可能接近预定的性能目标。此外，该方法还需要考虑实时的系统状态估计和故障检测，以有效地识别和隔离故障部分，同时不影响整体控制性能。通过这种方式，论文旨在提供一种有效的解决方案，使得AHV能够在高超声速飞行过程中保持高度的鲁棒性和可靠性，确保在面对故障时能够快速做出补偿并维持飞行任务的完成。这篇论文对空气呼吸式高超声速飞行器的非线性故障容忍控制进行了深入探讨，提出了一种创新的模型预测控制策略，对于推进此类复杂系统的控制理论和实践具有重要的科研价值。

www.ietdl.org

Published in IET Control Theory and Applications

Received on 29th May 2013

Accepted on 16th December 2013

doi: 10.1049/iet-cta.2013.0986

ISSN 1751-8644

Model predictive control-based non-linear fault

tolerant control for air-breathing hypersonic vehicles

Xiaoxiang Hu

, Hamid Reza Karimi

, Ligang Wu

,Yang Guo

302 Unit, Xi’an Research Institute of High-tech, Xi’an 710025, People’s Republic of China

Department of Engineering, University of Agder, N-4898 Grimstad, Norway

Space Control and InertialTechnology Research Center, Harbin Institute ofTechnology, Harbin 150001,

People’s Republic of China

E-mail: huxiaoxiang2008@gmail.com

Abstract: In this study, a model predictive control (MPC)-based fault tolerant control (FTC) design method for air-breathing

hypersonic vehicles (AHVs) is proposed. The non-linear model of AHVs is recalled and the FTC problem is discussed.

The problem is challenging because the relationship between ﬂight dynamics and the control input is not so clear. For the

purpose of non-linear FTC, an optimisation-based reference reconﬁguration method is given. Through the reconﬁguration, a

new reference command, which can be realised by the faulty system, is constructed. Actuator saturation has been take into

account when constructing the new reference command. An MPC-based controller reconﬁguration method is proposed with

respect to the new command and system faults. Finally, simulations are given to show the effectiveness of the proposed

control method.

1 Introduction

Air-breathing hypersonic vehicle (AHV) is a kind of vehi-

cle which can ﬂy at a speed of ﬁve times the speed of

sound (Mach 5). With the utmost aim of feasible and afford-

able atmospheric ﬂight, AHV has drove much attention

in recent years [1]. The design of guidance and control

systems for AHVs is a challenging task since the interac-

tions between the airframe, the propulsion system and the

structural dynamics are very strong, and AHVs are very sen-

sitive to changes in ﬂight condition and the aerodynamic

characteristics [2–4].

Owing to the enormous complexity of the dynamics,

only longitudinal models have been developed and used

for control design. A lot of works have been done and

several results are available in literature which consider

control solutions for AHVs. A design strategy of a multi-

input/multi-output adaptive sliding mode controller for the

longitudinal dynamics of AHVs is reported in [5], in which

the vehicle model is non-linear, multi-variable and unsta-

ble, and includes uncertain parameters. In [6], the authors

consider the development of the control-oriented model

and also provide an example of control design based on

approximate feedback linearisation. In [7], the design prob-

lem of a non-linear robust adaptive controller for AHVs

is discussed. In [8], the authors consider the longitudi-

nal motion of a hypersonic aircraft containing inertial

and aerodynamic uncertain parameters. By using stochastic

robustness analysis approach, robust ﬂight control systems

with non-linear dynamic inversion structure are synthesised.

In [9], the authors present an adaptive linear quadratic

altitude and velocity tracking control algorithm for the

longitudinal model of a generic air-breathing hypersonic

ﬂight vehicle. In [10], the authors deal with the adap-

tive model reference sliding output tracking control for

AHVs. Although a lot of results have been obtained, the

complex and challenging control problem for AHVs has

not been fully investigated, especially when possible faults

exist.

Owing to the requirements of precise control and the com-

plexity of modern engineering systems, the reliability of the

designed controller becomes very important. Unfortunately,

similar to other airplanes and space vehicles, possible fail-

ures are unavoidable in AHVs. Hence, the stability of a

system in which a fault occurs is very important, which

motivates the research of fault tolerant control (FTC). The

FTC of AHVs has been studied in recent years. In [11], a ref-

erence output tracking controller design method is proposed

for AHVs with actuator delay and uncertainty, the existence

conditions of such controllers are proposed in terms of liner

matrix inequalities; in [12], a reliable control for AHVs with

both sensor and actuator failures is studied by utilising T–S

fuzzy modelling technology. Most of the proposed methods

are based on the linear model or the nominal linear model of

AHVs, which limits the applicability of these methods. For

a complex non-linear system, it is better to design a non-

linear fault tolerant controller directly, but to the best of our

knowledge, this problem has not been well discussed.

Non-linear tracking control methods have been widely

studied [13, 14], but non-linear fault tolerant control (NFTC)

IET Control Theory Appl., 2014, Vol. 8, Iss. 13, pp. 1147–1153 1147

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