Self-healing control against actuator stuck failures under constraints: Application to unmanned helicopters
文献类型：会议论文
| 作者 | Qi X(齐欣); Theilliol, Didier; Qi JT(齐俊桐) ; Zhang YM(张友民); Han JD(韩建达)
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| 出版日期 | 2015 |
| 会议名称 | 12th International Conference on Diagnostics of Processes and Systems, DPS 2015 |
| 会议日期 | September 6-9, 2015 |
| 会议地点 | Ustka, Poland |
| 关键词 | Fault-tolerant systems Actuators Stuck Saturation Autonomous vehicles |
| 页码 | 193-207 |
| 中文摘要 | This paper investigates the problem of actuator stuck failures under constraints. In order to guarantee the post-failure system stability and acceptable performance, self-healing control framework is proposed which includes self-healing management module, fault-tolerant controller, reference redesigner and anti-windup compensator. Because of the existence of actuator constraints, the post-failure system may be unstable and the reference may be unreachable. Hence, fault-tolerant controller with anti-windup compensator was used to guarantee stability which was proved by introducing H∞ performance. Reachability of reference was analyzed by self-healing management module and a new reference could be calculated by reference redesigner. At last, the proposed self-healing framework was applied to a linear unmanned helicopter model for velocities and yaw tracking control. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | Faculty of Electronics, Telecommunications and Informatics; Gdansk University of Technology; Polish Academy of Sciences, Automatic Control and Robotics Committee; Polish Consultants Society; Polish Society for Measurement Automatic Control and Robotics (POLSPAR) |
| 会议录 | Advances in Intelligent Systems and Computing
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISBN号 | 978-3-319-23179-2 |
| 源URL | [http://ir.sia.cn/handle/173321/17192]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Qi X,Theilliol, Didier,Qi JT,et al. Self-healing control against actuator stuck failures under constraints: Application to unmanned helicopters[C]. 见:12th International Conference on Diagnostics of Processes and Systems, DPS 2015. Ustka, Poland. September 6-9, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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