Fault-tolerant Reconfiguration Controller Design for Intelligent Unmanned Airship with Control Surface Failures

For an intelligent unmanned airship equipped with multiple propellers, a reconfiguration scheme is proposed based on the pseudo-inverse method to deal with actuators faults. First, we introduce the structural layout of the considered intelligent unmanned airship, and establish its mathematical model. A LQR optimal controller is designed for the fundamental flight control system. Then, a general model of the actuator-input encountered with faults has been considered. In order to maintain the stability of the airship's attitude, the pseudo-inverse method is employed to reconfigure the control mixer. The control coinmands are thus reassigned to the effective actuators. Finally, the simulation results illustrate the effective and simple structure of our Fault-tolerant reconfiguration control method.