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Self healing control method against unmanned helicopter actuator stuck faults
Qi X(齐欣); Theilliol, Didier; Qi JT(齐俊桐); Zhang YM(张友民); Wang L(王玲); Han JD(韩建达)
作者部门机器人学研究室
会议名称2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
会议日期May 27-30, 2014
会议地点Orlando, FL, United states
会议主办者ICUAS Association
会议录名称2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
出版者IEEE Computer Society
出版地Washington, USA
2014
页码842-847
收录类别EI ; CPCI(ISTP)
EI收录号20143017987001
WOS记录号WOS:000360801900099
产权排序1
ISBN号978-1-4799-2376-2
关键词Aircraft Landing Helicopter Rotors
摘要A self healing (SH) control framework is proposed in this paper against actuator stuck faults. For unmanned helicopters (UHs), the framework is composed by an active fault-tolerant control (FTC) system and reference redesign. The FTC system is based on linear-quadratic regulator (LQR) and pseudo inverse technique, which can compensate stuck faults of the post-fault system with output analytical redundancy (OAR) feature. The post-fault system may not achieve the original reference because remaining actuators' margin will degrade after stuck-fault compensation. A new reference is necessary for the post-fault system, which can be achieved by reference redesign method based on solving an optimal problem. At last the proposed SH framework is illustrated with a linear unmanned helicopter model, which includes rotor-speed control input and swashplate configuration. © 2014 IEEE.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15047
专题机器人学研究室
通讯作者Qi X(齐欣)
作者单位1.State Key Laboratory of Robotics Shenyang, Institute of Automation, Chinese Academy of Sciences(CAS), 110016, Shenyang, Liaoning Province, China
2.University of Chinese Academy of Sciences, CRAN UMR 7039, University of Lorraine, 54506 Vandoeuvre-Les-Nancy, France
3.Department of Mechanical and Industrial Engineering, Concordia Institute of Aerospace Design and Innovation(CIADI), Concordia University, 1455 de Maisonneuve Blvd. W., Montreal, QC H3G 1M8, Canada
4.State Grid Liaoning Electric Power Company Limited, Benxi Electric Power Supply Company, Benxi, Liaoning Province, China
推荐引用方式
GB/T 7714
Qi X,Theilliol, Didier,Qi JT,et al. Self healing control method against unmanned helicopter actuator stuck faults[C]//ICUAS Association. Washington, USA:IEEE Computer Society,2014:842-847.
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