Direct adaptive control of faulty UAVs based on the paralleled integral and fuzzy control

In order to achieve the direct self-repairing control for faulty UAVs, a kind of direct adaptive control based on the paralleled integral and fuzzy control is proposed to the fault model of a UAV's flight control system. First, adopting the model reference adaptive control law based on fuzzy control, the control is realized by analyzing the flight control performance when some complex faults occur. Then, the method of a new direct self-repairing control is formulated by the paralleled integral and fuzzy control. Consequently, the stable error, the properties of response, and robustness are improved. The simulation results are given to illustrate that a good dynamic performance of the flight control system with large faults can be maintained with the proposed method.