Civil Aircraft Fault Tolerant Attitude Tracking based on Extended State Observers and Nonlinear Dynamic Inversion

For the problem of sensor faults and actuator faults in aircraft attitude control,this paper proposes a fault tolerant con-trol(FTC)scheme based on extended state observer(ESO)and nonlinear dynamic inversion(NDI).First,two ESOs are designed to estimate sensor faults and actuator faults respectively.Second,the angular rate signal is reconstructed according to the estimation of sensor faults.Third,in angular rate loop,NDI is de-signed based on reconstruction of angular rate signals and es-timation of actuator faults.The FTC scheme proposed in this pa-per is testified through numerical simulations.The results show that it is feasible and has good fault tolerant ability.