Observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault
文献类型：专著章节
| 作者 | Liu Z(刘重)1,5,6 ; Theilliol, Didier4; Yang LY(杨丽英)1,6; He YQ(何玉庆)1,6; Han JD(韩建达)1,2,3,6
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| 发表日期 | 2020 |
| 出处 | Fault Diagnosis and Fault-Tolerant Control of Robotic and Autonomous Systems |
| 出版地 | London |
| ISBN号 | 978-1-78561-830-7 |
| 出版者 | IET |
| 页码 | 43-66 |
| 产权排序 | 1 |
| 英文摘要 | This chapter introduces the control method of the quad-TRUAV in the transition procedure under rotor -tilt axle stuck fault. By introducing virtual control inputs, the nonlinear model of the quad-TRUAV is transformed into the LPV form, and observer based LPV control is proposed to ensure the closed -loop stability of controlled plant. For applied control inputs, the inverse procedure is designed further, and the stability of transition procedure is ensured asymptotically in theory. After rotor -tilt axle stuck fault, the inverse procedure is reconstructed with degraded dynamics by ignoring velocity control. With the redesigned reference value of angle of attack, the cruise ability of TRUAV under stuck fault is still kept. |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/29701]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu Z(刘重) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China 2.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China 3.Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, 300350, China 4.Faculte des Sciences et Techniques, CRAN UMR 7039, CNRS, University of Lorraine, B.P. 70239, Vandoeuvre-lès-Nancy, 54506, France 5.University of Chinese Academy of Sciences, Beijing, 100049, China 6.Institutes for Robotics and Intelligent Manufacturing, 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. Observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault. London:IET,2020:43-66. |
入库方式： OAI收割
来源：沈阳自动化研究所
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