Extended state observer-based robust fault-tolerant controller for flight control surface failures

A robust fault-tolerant controller integrating fault detection and compensation for flight control surfaces failures is discussed, a method is proposed using the extended state observer compensating the faults. The complete system comprises of two controllers. The main controller is designed for high performance of the original faultless system. The compensating controller is based on a nonlinear extended state observer. It can be seen as a standalone compensator added to the system to compensate the effects of fault guaranteeing the stability of the system. The main aim in integration of the fault detection and compensator is to provide ample time for the FDI and control reconfiguration. So this new controller scheme can be seen as a transitional controller in the emergency fault situation. Feasibility and validity of the new controller is demonstrated with the help of simulation example.