Adaptive UAV control with sensor and actuator faults recovery

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dc.contributor.authorBekhiti, Abdellah
dc.contributor.authorSouanef, Toufik
dc.contributor.authorToubakh, Houari
dc.contributor.authorHorri, Nadjim
dc.contributor.authorKafi, Mohamed Redouane
dc.contributor.authorBouzid, Zakaria
dc.date.accessioned2025-04-24T15:23:51Z
dc.date.available2025-04-24T15:23:51Z
dc.date.freetoread2025-04-24
dc.date.issued2025-03-01
dc.date.pubOnline2025-03-19
dc.description.abstractThis paper presents an adaptive fault-tolerant control strategy tailored for fixed-wing unmanned aerial vehicles (UAV) operating under adverse conditions such as icing. Using radial basis function neural networks and nonlinear dynamic inversion, the proposed framework effectively handles simultaneous actuator and sensor faults with arbitrary nonlinear dynamics caused by environmental effects, model uncertainties and external disturbances. A nonlinear disturbance observer is incorporated for accurate sensor fault detection and estimation, thereby enhancing the robustness of the control system. The integration of the radial basis function neural network enables an adaptive estimation of the faults, ensuring accurate fault compensation and system stability under challenging conditions. The observer is optimised to minimise the deviation of the closed-loop dynamics eigenvalues from the assigned eigenvalues and to approach unity observer steady-state gain. The stability of the control architecture is mathematically proven using Lyapunov analysis, and the performance of the approach is validated through numerical simulations on a six Degrees of Freedom fixed-wing unmanned aerial vehicles model. The results show superior performance and robustness to challenging fault scenarios. This research provides a comprehensive fault management solution that enhances the safety and reliability of unmanned aircraft operations in extreme environments.
dc.description.journalNameAerospace
dc.identifier.citationBekhiti A, Souanef T, Toubakh H, et al., (2025) Adaptive UAV control with sensor and actuator faults recovery. Aerospace, Volume 12, Issue 3, March 2025, Article number 261
dc.identifier.eissn2226-4310
dc.identifier.elementsID567444
dc.identifier.issn2226-4310
dc.identifier.issueNo3
dc.identifier.paperNo261
dc.identifier.urihttps://doi.org/10.3390/aerospace12030261
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/23801
dc.identifier.volumeNo12
dc.languageEnglish
dc.language.isoen
dc.publisherMDPI
dc.publisher.urihttps://www.mdpi.com/2226-4310/12/3/261
dc.rightsAttribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectfault-tolerant controller
dc.subjectflight control
dc.subjectadaptive control
dc.subjectradial basis functions neural network
dc.subjectnonlinear dynamic inversion control
dc.subjectfixed-wing UAVs
dc.subject4007 Control Engineering, Mechatronics and Robotics
dc.subject40 Engineering
dc.subject4001 Aerospace Engineering
dc.subject4010 Engineering Practice and Education
dc.titleAdaptive UAV control with sensor and actuator faults recovery
dc.typeArticle
dc.type.subtypeJournal Article
dcterms.dateAccepted2025-03-15

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