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题名:
Self healing control method against unmanned helicopter actuator stuck faults
作者: 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
通讯作者: 齐欣
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: 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
会议录出版者: IEEE Computer Society
会议录出版地: Washington, USA
出版日期: 2014
页码: 842-847
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
EI收录号: 20143017987001
WOS记录号: WOS:000360801900099
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15047
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Qi X,Theilliol, Didier,Qi JT,et al. Self healing control method against unmanned helicopter actuator stuck faults[C]. 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014. Orlando, FL, United states. May 27-30, 2014.Self healing control method against unmanned helicopter actuator stuck faults.
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