Adaptive Fault-torrent Attitude Tracking Control for Hypersonic Unmanned Aerial Vehicle Subject to Input Constraints

A theoretical framework of adaptive fault tolerant attitude tracking control is proposed for a hypersonic Unmanned aerial vehicle in presence of actuator fault and input constraints. Firstly, the nonlinear attitude dynamics for hypersonic UAV X-33 is presented. A fault-torrent attitude control scheme is proposed by designing a nonlinear fault observer for the UAV attitude dynamical system. Moreover, a finite time convergence attitude tracking controller is accomplished on the basis of backstepping technology in the unknown addition actuator faulty and input constraints case. Finally, numerical simulation is presented to illustrate the proposed fault tolerant control scheme is effective in providing satisfactory tracking performance and rejecting actuator faults and input constraints.