Fault-tolerant control method for typical configurations of I-beam variant rotorcraft based on PD sliding mode

In this paper, the estimation tracking control problem of the rotorcraft with two typical configurations is mainly studied in the case of external interference and partial failure of the actuator. Firstly, we introduce the differences between the variant rotorcraft and the ordinary conventional fixed-wing aircraft, analyze the dynamic model of the variant rotorcraft, and construct the dynamic model with more fault conditions. Then, according to the fault situation of the variant rotorcraft, the PD sliding mode control algorithm was used to design a fault-tolerant controller, when the fault occurred in 12s, the fault-tolerant controller responded quickly, and the response time was 2s, which improved the response speed of the system to the fault, thereby inhibiting the impact of multiple faults. Finally, the simulink platform simulation experiments in MATLAB are used to verify the effectiveness and reliability of the control algorithm, and it is shown that the variant rotorcraft can achieve trajectory tracking in the presence of actuator failure and external interference.