Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters
文献类型：期刊论文
| 作者 | Qi X(齐欣); Qi JT(齐俊桐) ; Theilliol, Didier; Song DL(宋大雷); Zhang YM(张友民); Han JD(韩建达)
|
| 刊名 | Journal of Intelligent and Robotic Systems: Theory and Applications
 |
| 出版日期 | 2016 |
| 页码 | 1-15 |
| 关键词 | Unmanned helicopter Actuator fault Fault-tolerant control Reference redesign |
| ISSN号 | 0921-0296 |
| 产权排序 | 1 |
| 通讯作者 | 韩建达 |
| 中文摘要 | Actuator faults are inevitable but affect reliability and safety of unmanned helicopters (UHs), especially when there are actuator constraints. In this paper, self-healing control, which is an extended active fault-tolerant control (FTC) method with reference redesign on-line, is proposed to analyze and to guarantee the safety of single-rotor UHs (SUHs) under both actuator faults and constraints. The safety includes body safety and mission safety. More specifically, body safety represents the stability of SUH itself and mission safety represents mission accomplishment with acceptable performance, furthermore, set-point tracking mission is considered. The main contribution of this paper is to analyze and to guarantee the safety of SUHs by solving a set of Linear Matrix Inequalities (LMIs) at one time. The set of LMIs includes saturation compensator design and stability guaranty with a given controller in the absence of actuator constraints, actuator fault compensation analysis, reference reachability analysis and reference redesign. On the other hand, by adding swashplate configuration, SUH model with real actuator outputs as control inputs is constructed which can describe actuator faults more clearly compared to SUH models with nominal control inputs. Finally, the proposed self-healing control method is illustrated by simulation with a nonlinear SUH model. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/18635]  |
| 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,Qi JT,Theilliol, Didier,et al. Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters[J]. Journal of Intelligent and Robotic Systems: Theory and Applications,2016:1-15. |
| APA | Qi X,Qi JT,Theilliol, Didier,Song DL,Zhang YM,&Han JD.(2016).Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters.Journal of Intelligent and Robotic Systems: Theory and Applications,1-15. |
| MLA | Qi X,et al."Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters".Journal of Intelligent and Robotic Systems: Theory and Applications (2016):1-15. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。