Adaptive actuator failure-tolerant control for networked flight vehicle

For a networked flight vehicle with random short delay, external disturbance and actuator failure, an adaptive fault-tolerant control scheme is put forwarded.The system uncertainty composed of the transforming delay and the disturbance are estimated by using an extended state observer, and compensated by using an active disturbance rejection controller. Then an adaptive fault-tolerant controller based on tracking error is designed to make the actuator command converge to the design value adaptively and enable the reconfigurable control system track the reference model accurately.The stability of the closed loop control system is analyzed by using Lyapunov function. Simulation results show the effectiveness of the proposed method.