UKF-based rotorcraft UAV fault adaptive control for actuator failure
文献类型：会议论文
| 作者 | Qi JT(齐俊桐) ; Jiang Z(姜哲); Zhao XG(赵新刚); Han JD(韩建达)
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| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2007) |
| 会议日期 | December 15-18, 2007 |
| 会议地点 | Sanya, China |
| 关键词 | fault tolerance control Unscented Kalman Filter feedback linearization rotorcraft UAV |
| 页码 | 1545-1550 |
| 中文摘要 | A new fault adaptive control methodology against the actuator failure is proposed in this paper. The actuator failure modeling are introduced to denote the actuator healthy level (AHL) and the Unscented Kalman Filter (UKF) is employed for on-line estimation of both the flight states and the AHL parameters of rotorcraft UAV (RUAV). The functionality of the approach has been illustrated through experiments on the Shenyang Institute of Automation RUAV platform SIA-Heli-90 and the results show that the proposed method is an effective tool for actuator fault adaptive control of RUAVs. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1761-2 |
| WOS记录号 | WOS:000257065801103 |
| 源URL | [http://ir.sia.cn/handle/173321/8937]  |
| 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 JT,Jiang Z,Zhao XG,et al. UKF-based rotorcraft UAV fault adaptive control for actuator failure[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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