Research on self-healing control scheme for unmanned platform with flight envelope protection constraint

Aiming at some problems such as rotor failure, efficiency loss and external environment disturbance that may occur in the air-to-ground platform under the state of flight, this paper, founded on the reachable set theory takes the intersection of backward reachable set (BRS) and forward reachable set (FRS) as the safe flight envelope (SFE) of the air-to-ground platform, and then proposes a self-healing control (SHC) scheme with flight envelope protection. The scheme is mainly composed of active fault-tolerant control (FTC) system and SFE. Founded on the SFE of the air-to-ground platform, the reachability of system to the reference signal under fault condition is analyzed and the safe reference signal is obtained. According to the system state, the stable flight of the air-to-ground platform under fault condition is realized through fault-tolerant control in most cases. The simulation results show that even in case of excessive gain of control system, the proposed SHC scheme can effectively prevent the air-to-ground platform from flying out of control and can improve the fault-tolerant control capability.