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For a linearized six-degree-of-freedom linear model and nonlinear model of the tilt-rotor UAV, numerical simulation and process-in-the-loop simulation (PILS) are performed to demonstrate the performance of the proposed fault tolerant control scheme. An FDI algorithm is applied to the federated Kalman filter in order to improve the accuracy of the state estimation even when the sensor fails. For the sensor fault, the fault tolerant federated Kalman filter is designed for the tilt-rotor UAV system. A designed fault tolerant control scheme does not require system identification process and it provides an effective reconfigurability without fault detection and isolation (FDI) process. For the actuator fault, the fault tolerant control scheme based on model error control synthesis is presented. To achieve a high reliability, a fault tolerant flight control system is required for the case of actuator or sensor fault. A dual system in the flight control computer (FCC) and the sensor is proposed in this study. The tilt-rotor UAV has a vertically take-off and landing (VTOL) capability like a helicopter during the take-off & landing while it could cruise with a high speed as a conventional airplane flight mode. A fault tolerant control scheme for actuator and sensor faults is proposed for a tilt-rotor unmanned aerial vehicle (UAV) system.

Tilt rotor flight control system