Adaptive Fault-Tolerant Control of a Probe-and-Drogue Refueling Hose Under Varying Length and Constrained Output

This brief deals with an adaptive barrier-based fault-tolerant control of a probe-and-drogue refueling hose (PDRH) under varying length, actuator fault, and constrained output. First, we consider the actuator working normally, and a model-based control law with barrier function is developed to stabilize the elastic vibration and ensure the endpoint vibration without violating the restriction of the flexible hose. Second, an adaptive fault-tolerant control scheme is proposed to cope with partial effectiveness loss of the actuator. Subsequently, the direct Lyapunov method is adopted to derive the uniformly bounded stability in the closed-loop system. Finally, simulation results demonstrate the validity of the obtained schemes.