Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness
文献类型：期刊论文
| 作者 | Liu Z(刘重)1,5,6 ; Theilliol, Didier4; Yang LY(杨丽英)5,6; He YQ(何玉庆)5,6; Han JD(韩建达)2,3,5,6
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| 刊名 | Journal of Intelligent and Robotic Systems: Theory and Applications
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| 出版日期 | 2020 |
| 卷号 | 100期号:1页码:29-45 |
| 关键词 | IDA-PBC Loss of actuator effectiveness Passive FTC RUAV |
| ISSN号 | 0921-0296 |
| 产权排序 | 1 |
| 英文摘要 | Due to the convenience in applications, interconnection and damping assignment passivity-based control (IDA-PBC) is applied widely to reformulate the nonlinear robust control as the total energy shaping. However, only few researches focus on the fault-tolerant control (FTC) method based on IDA-PBC, which limits its applications under actuator faults. To break this limitation, this paper improves the IDA-PBC with fault-tolerant ability, and the main contributions are to propose high-gain and adaptive IDA-PBC methods under loss of actuator effectiveness. The simulation and experiment results with a rotorcraft unmanned aerial vehicle (RUAV) are presented to illustrate the control effectiveness of the improved IDA-PBC methods. |
| WOS关键词 | FAULT-TOLERANT CONTROL ; MECHANICAL SYSTEMS ; IDA-PBC ; SUBJECT |
| 资助项目 | National Key Research and Development Program of China[2017YFD0701002] ; National Natural Science Foundation of China[91748130] ; National Natural Science Foundation of China[U1608253] |
| WOS研究方向 | Computer Science ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000564450700001 |
| 资助机构 | National Key Research and Development Program of China (No. 2017YFD0701002) ; National Natural Science Foundation of China (Nos. 91748130 and U1608253) |
| 源URL | [http://ir.sia.cn/handle/173321/26659]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Theilliol, Didier |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China 3.Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University, Tianjin, China 4.CRAN UMR 7039, CNRS, University of Lorraine, Faculte des Sciences et Techniques, B.P. 70239, Vandœuvre-Lés-Nancy 54506, France 5.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning Province 110169, China 6.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province 110016, China |
| 推荐引用方式 GB/T 7714 | Liu Z,Theilliol, Didier,Yang LY,et al. Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness[J]. Journal of Intelligent and Robotic Systems: Theory and Applications,2020,100(1):29-45. |
| APA | Liu Z,Theilliol, Didier,Yang LY,He YQ,&Han JD.(2020).Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness.Journal of Intelligent and Robotic Systems: Theory and Applications,100(1),29-45. |
| MLA | Liu Z,et al."Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness".Journal of Intelligent and Robotic Systems: Theory and Applications 100.1(2020):29-45. |
入库方式： OAI收割
来源：沈阳自动化研究所
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