Rotorcraft UAV Actuator Failure Detection based on a New Adaptive set-membership Filter
文献类型：会议论文
| 作者 | Wu C(吴冲) ; Song DL(宋大雷); Qi JT(齐俊桐); Han JD(韩建达)
|
| 出版日期 | 2012 |
| 会议名称 | The 5th International Conference on Intelligent Robotics and Applications |
| 会议日期 | October 3-5, 2012 |
| 会议地点 | Montreal, Canada |
| 关键词 | RUAV Actuator Failure Detection AESMF AHCs |
| 页码 | 433-442 |
| 中文摘要 | Actuator failure detection method based on a new Adaptive Extended Set-Membership Filter (AESMF) is proposed for Rotorcraft Unmanned Aerial Vehicle (RUAV). The AEMSF proposed in this paper is based on MIT method to optimize the set boundaries of process noises which may be incorrect in modeling or time-variant in operation; estimation stability and boundaries accuracy can be improved compared to the conventional ESMF. Actuator Healthy Coefficients (AHCs) is introduced into the dynamics of RUAV to denote the actuator failure model. Based on AESMF, online estimation of the AHCs can be obtained along with the flight state. With the estimated AHCs, actuator failure can be detected as soon as possible which provide valuable information for fault tolerant control. Efficiency and improvement of this method compared with other online parameters estimation methods is demonstrated by simulation using ServoHeli-20 model. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Lecture Notes in Computer Science
 |
| 会议录出版者 | Springer-Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| 源URL | [http://ir.sia.cn/handle/173321/10215]  |
| 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 | Wu C,Song DL,Qi JT,et al. Rotorcraft UAV Actuator Failure Detection based on a New Adaptive set-membership Filter[C]. 见:The 5th International Conference on Intelligent Robotics and Applications. Montreal, Canada. October 3-5, 2012. |
入库方式： OAI收割
来源：沈阳自动化研究所
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