Fault Adaptive Control for RUAV Actuator Failure with Unscented Kalman Filter

A new fault adaptive control methodology against the actuator failure is proposed. The actuator failure modeling are introduced to denote the actuator healthy coefficients (AHCs) and the unscented Kalman filter (UKF) is employed for on-line estimation of both the flight states and the AHCs parameters of rotorcraft UAV (RUAV). In this paper, The functionality of the approach has been illustrated through experiments on the Shenyang Institute of Automation RUAV platform SIA-Heli-90 and the results show that the proposed method is an effective tool for actuator fault adaptive control of RUAVs.