Incremental backstepping robust fault-tolerant control with improved IHSTD for RLVs

Wu Liu, Yanli Du*, Erwin Mooij, Haibing Lin

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

4 Citations (Scopus)


Aiming at unknown disturbances/uncertainties, partial effectiveness loss fault (PELF) and stuck failure (SF) of the actuator, a composite robust fault-tolerant control strategy based on incremental backstepping (IBS) is proposed for a reusable launch vehicle (RLV) during re-entry. By converting PELF to disturbances/uncertainties, this paper presents an incremental form of disturbance observer based on an improved inverse hyperbolic sine tracking differentiator (IHSTD) to compensate these interference terms originally ignored in the IBS design process. Furthermore, a failure symbol matrix is set to control the on-off states of the reaction control system of the RLV to make up for the missing torque of the actuator SF, which can strengthen the fault-tolerance capability of the control system. The simulation results show that the tracking effect of the proposed method on the attitude-angle commands is better than traditional backstepping with disturbance observer, and the presented control allocation strategy is capable of timely resolving the actuator SF problem to ensure stability of flight.

Original languageEnglish
Pages (from-to)226-240
Number of pages15
JournalInternational Journal of Modelling, Identification and Control
Issue number3
Publication statusPublished - 2020


  • Fault-tolerant control
  • IBS
  • Incremental backstepping
  • Partial effectiveness loss fault
  • Re-entry control system
  • Reaction control system
  • Reusable launch vehicle
  • RLV
  • Robust control
  • Stuck failure
  • Tracking differentiator disturbance observer


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