Fixed-Time Adaptive Fuzzy Fault-Tolerant Control of Flapping Wing MAVs With Wing Damage

This article focuses on the control issue of flapping wing micro air vehicles (FWMAVs) with wing damage, model uncertainties, external disturbances, and input saturation. A fault model is first established based on a detailed and systematic analysis of effects on aerodynamic forces and moments of FWMAVs caused by wing loss. Based on the fault model, a fixed-time adaptive fuzzy fault-tolerant control strategy is developed by combining an adaptive scheme, a fixed-time control technique, and a fuzzy logic approximation technique. The present one can effectively accommodate wing damage without requiring any prior information about the damage and can render the tracking error to converge to a small neighborhood of the origin within a fixed time. Several significant lemmas are developed to facilitate stability analysis. The fixed-time stability of the resulting closed-loop systems is rigorously proved through the proposed lemmas and the Lyapunov technique. Numerical simulations of several fault cases validate the effectiveness of the present one.