Fault-tolerant Docking Control for Autonomous Aerial Refueling of Unmanned Aerial Vehicle

Naval Aeronautical and Astronautical University, Yantai, Shandong Abstract: Aiming at the precise docking control for autonomous aerial refueling of UAVs, this paper proposes a fault-tolerant docking control based on an active anti-jamming technique, considering the possible fault of the UAV actuator. First, a common fault model of the actuator is established on the basis of the six-degree-of-freedom (6-DOF) UAV model, and it is analytically discussed that the actuator fault can be regarded as part of the lumped disturbance. Then, an extended state observer is designed for each control loop respectively to estimate and compensate for lumped disturbance, and the active disturbance rejection control is designed as well. Finally, the effectiveness of the method proposed in this paper is verified by simulation.