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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)
Department机器人学研究室
Conference Name2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
Conference DateMay 27-30, 2014
Conference PlaceOrlando, FL, United states
Author of SourceICUAS Association
Source Publication2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
PublisherIEEE Computer Society
Publication PlaceWashington, USA
2014
Pages842-847
Indexed ByEI ; CPCI(ISTP)
EI Accession number20143017987001
WOS IDWOS:000360801900099
Contribution Rank1
ISBN978-1-4799-2376-2
KeywordAircraft Landing Helicopter Rotors
AbstractA 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.
Language英语
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15047
Collection机器人学研究室
Corresponding AuthorQi X(齐欣)
Affiliation1.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
Recommended Citation
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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