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题名:
Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters
作者: Qi X(齐欣); Qi JT(齐俊桐); Theilliol, Didier; Song DL(宋大雷); Zhang YM(张友民); Han JD(韩建达)
作者部门: 机器人学研究室
通讯作者: 韩建达
关键词: Unmanned helicopter ; Actuator fault ; Fault-tolerant control ; Reference redesign
刊名: Journal of Intelligent and Robotic Systems: Theory and Applications
ISSN号: 0921-0296
出版日期: 2016
页码: 1-15
收录类别: EI
产权排序: 1
项目资助者: National Natural Science Foundation of China under Grant: 61433016 ; The Chinese Academy of Sciences Visiting Professorship for Senior International Scientists under Grant 2012T1G0007.
摘要: Actuator faults are inevitable but affect reliability and safety of unmanned helicopters (UHs), especially when there are actuator constraints. In this paper, self-healing control, which is an extended active fault-tolerant control (FTC) method with reference redesign on-line, is proposed to analyze and to guarantee the safety of single-rotor UHs (SUHs) under both actuator faults and constraints. The safety includes body safety and mission safety. More specifically, body safety represents the stability of SUH itself and mission safety represents mission accomplishment with acceptable performance, furthermore, set-point tracking mission is considered. The main contribution of this paper is to analyze and to guarantee the safety of SUHs by solving a set of Linear Matrix Inequalities (LMIs) at one time. The set of LMIs includes saturation compensator design and stability guaranty with a given controller in the absence of actuator constraints, actuator fault compensation analysis, reference reachability analysis and reference redesign. On the other hand, by adding swashplate configuration, SUH model with real actuator outputs as control inputs is constructed which can describe actuator faults more clearly compared to SUH models with nominal control inputs. Finally, the proposed self-healing control method is illustrated by simulation with a nonlinear SUH model.
语种: 英语
EI收录号: 20161802312249
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/18635
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Qi X,Qi JT,Theilliol, Didier,et al. Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters[J]. Journal of Intelligent and Robotic Systems: Theory and Applications,2016:1-15.
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