This paper presents a Markov chain model to dynamically emulate the effects of adverse (failure) flight conditions on fixed-wing, autonomous aircraft system actuators. It implements a PX4 Autopilot flight stack module that perturbs the attitude control inputs to the plane's actuator mixer. We apply this approach in simulation on a fixed-wing autonomous aircraft to test the controller response to stochastic compound failures on a range of turning radii. Statistical measures of the differences between target and simulated flight paths demonstrate that a well-tuned PID controller remains competitive with adaptive control in a cascading, compound, transient failure regime.

翻译：摘要：本文提出一个马尔可夫链模型，用于动态模拟固定翼自主飞行器系统执行器在恶劣（故障）飞行条件下的影响。该模型实现了一个PX4自动驾驶仪飞行栈模块，对飞行器执行器混控器的姿态控制输入施加扰动。我们通过仿真将该方法应用于固定翼自主飞行器，以测试控制器对一系列转弯半径下随机复合故障的响应。目标飞行路径与模拟飞行路径之间差异的统计量度表明，在级联、复合、瞬态故障场景中，调优良好的PID控制器仍能与自适应控制保持竞争力。