Adaptive fault tolerant attitude control of a stratospheric airship with input saturation

In this work, an adaptive fault tolerant control method is proposed to address the problem of attitude tracking for stratospheric airship with both multiplicative and additive actuator faults. Input saturation for control surfaces are also considered and an auxiliary system is designed to deal with the saturation. Both multiplicative and additive actuator faults are estimated by a specific adaption law. Stability analysis, which is based on the Lyapunov stability theorem, shows that under the proposed control system, the estimate errors of actuator faults are bounded during operations. Simulations on a stratospheric airship attitude tracking control are presented to illustrate the effectiveness of the designed algorithm.