Experimental Investigation for RUAV's Actuator Fault Detections with AESMF
文献类型：期刊论文
| 作者 | Song DL(宋大雷) ; Qi JT(齐俊桐); Yang LY(杨丽英); Han JD(韩建达)
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 出版日期 | 2015 |
| 卷号 | 12页码:1-13 |
| 关键词 | RUAV actuator fault detection AESMF flight experiment investigation |
| ISSN号 | 1729-8806 |
| 产权排序 | 1 |
| 通讯作者 | 宋大雷 |
| 中文摘要 | The adaptive extended set-membership filter (AESMF) algorithm for robots' online modelling is today proposed for use in this field. Compared to the traditional ESMF, this novel filter method improves estimation accuracy under variable boundaries of unknown but bounded (UBB) process noise, which is often caused by the uncertainties of robotic dynamics. However, the applicability and stability of the AESMF method have not been tested in detail or demonstrated for real robotic systems. In this research, AESMF is applied for the actuator fault detections of a rotor-craft unmanned air vehicle (RUAV). The stability of AESMF is firstly analysed using mathematics and actuator healthy coefficients (AHC) are introduced for building the actuator failure model of RUAVs. AESMF is employed for the online boundary estimation of flight states and AHC parameters for fault tolerance control. Based on the proposed AESMF actuator fault estimation, flight experiments are conducted using a ServoHeli-40 RUAV platform and the flight results are compared with traditional ESMF and the adaptive extended Kalman filter (AEKF) in order to demonstrate its effectiveness, as well as for suggesting improvements for the actuator failure detection of RUAVs. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | FILTER ; ALGORITHM ; SYSTEMS ; ROBOT |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000357686200001 |
| 源URL | [http://ir.sia.cn/handle/173321/16858]  |
| 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 | Song DL,Qi JT,Yang LY,et al. Experimental Investigation for RUAV's Actuator Fault Detections with AESMF[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2015,12:1-13. |
| APA | Song DL,Qi JT,Yang LY,&Han JD.(2015).Experimental Investigation for RUAV's Actuator Fault Detections with AESMF.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,12,1-13. |
| MLA | Song DL,et al."Experimental Investigation for RUAV's Actuator Fault Detections with AESMF".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 12(2015):1-13. |
入库方式： OAI收割
来源：沈阳自动化研究所
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