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Robust H ∞ and adaptive tracking control against actuator faults with a linearised aircraft application

This article studies the problem of designing adaptive fault-tolerant H ∞ tracking controllers for a class of aircraft flight systems against general actuator faults and bounded perturbations. A robust adaptive state-feedback controller is constructed by a stabilising controller gain and an adaptive control gain function. Using mode-dependent Lyapunov functions, linear matrix inequality-based conditions are developed to find the controller gain such that disturbance attenuation performance is optimised. Adaptive control schemes are proposed to estimate the unknown controller parameters on-line for unparametrisable stuck faults and perturbation compensations. Based on Lyapunov stability theory, it is shown that the resulting closed-loop systems can guarantee asymptotic tracking with H ∞ performances in the presence of faults on actuators and perturbations. An application to a decoupled linearised dynamic aircraft system and its simulation results are given.