Fault-tolerant Control Method for All-type Actuator Faults of eVTOL Aircraft

doi:10.16182/j.issn1004731x.joss.25-0947

Abstract

Abstract:

To address all-type actuator faults, especially nonlinear distortion issues, in multi-rotor eVTOL aircraft, a novel fault-tolerant control method was proposed. A fault function was established at the rotor speed level, and a fault-tolerant control algorithm combining dynamic robust nonsingular fast integral terminal sliding mode with a high-order finite-time disturbance observer was designed to achieve fault-tolerant control through rotor redundancy allocation. The nonsingular fast integral terminal sliding mode algorithm was improved, and a dynamic system containing actuator faults and their derivatives was constructed via a dynamic surface to achieve system convergence within finite time, avoiding the singularity and chattering problems of the controller; the high-order finite-time disturbance observer observed and compensated for uncertainties and their higher-order derivatives. Simulation results indicate that this fault-tolerant control method solves the problem of actuator's nonlinear mapping distortion, handles severe faults in single-rotor, multi-rotor, and even same-side multi-rotor actuators, and achieves high-precision trajectory tracking performance even under combined faults of sensors, actuators, and external disturbances.

Key words: multi-rotor eVTOL, actuator fault, nonlinear distortion, fault-tolerant control, integral terminal sliding mode, disturbance observer

CLC Number:

TP273

Wang Juan, Li Guorui, Fan Zhiyong, Chen Huijie. Fault-tolerant Control Method for All-type Actuator Faults of eVTOL Aircraft[J]. Journal of System Simulation, 2026, 38(8): 2250-2264.

Figures/Tables 15

Fig. 1

Fig. 2

Table 1

Summary of basic parameters of eVTOL model

符号	参数
$m$ /kg	220
$d$ /m	1.65
$R$ /m	0.6
$C m$	0.018 5 $T / ρ π Ω 2 R 4$
$I x, y / (k g / m 2)$	164
$I z / (k g / m 2)$	281
$S / m 2$	1.13
$C T$	0.011 6 $P / ρ π Ω 3 R 5$

Table 1

Table 2

Parameters of controller and observer

符号	参数	符号	参数
$a 1$	210	$a 3$	10
$a 2$	150	$a 4$	10
$b 1$	80	$b 2$	40
$ξ 1$	30	$ξ 3$	20
$ξ 2$	0.01	$ξ 4$	0.01
$L$	20

Table 2

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