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题名: SIMULTANEOUS STATE AND PARAMETER ESTIMATION BASED ACTUATOR FAULT DETECTION AND DIAGNOSIS FOR AN UNMANNED HELICOPTER
作者: Wu C(吴冲) ; Qi JT(齐俊桐) ; Song DL(宋大雷) ; Qi X(齐欣) ; Han JD(韩建达)
作者部门: 机器人学研究室
关键词: actuator fault detection and diagnosis ; unmanned helicopter ; Kalman filter ; set-membership filter ; adaptive scheme
刊名: INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE
ISSN号: 1641-876X
出版日期: 2015
卷号: 25, 期号:1, 页码:175-187
收录类别: SCI ; EI
产权排序: 1
项目资助者: National Key Technology Research and Development Program of China [2013BAK03B01] ; National Natural Science Foundation of China [61433016, 61203334]
摘要: Simultaneous state and parameter estimation based actuator fault detection and diagnosis (FDD) for single-rotor unmanned helicopters (UHs) is investigated in this paper. A literature review of actuator FDD for UHs is given firstly. Based on actuator healthy coefficients (AHCs), which are introduced to represent actuator faults, a combined dynamic model is established with the augmented state containing both the flight state and AHCs. Then the actuator fault detection and diagnosis problem is transformed into a general nonlinear estimation one: given control inputs and the measured flight state contaminated by measurement noises, estimate both the flight state and AHCs recursively in each time-step, which is also known as the simultaneous state and parameter estimation problem. The estimated AHCs can further be used for fault tolerant control (FTC). Based on the existing widely used nonlinear estimation methods such as the unscented Kalman filter (UKF) and the extended set-membership filter (ESMF), three kinds of adaptive schemes (KF-UKF, MIT-UKF and MIT-ESMF) are proposed by our team to improve the actuator FDD performance. A comprehensive comparative study on these different estimation methods is given in detail to illustrate their advantages and disadvantages when applied to unmanned helicopter actuator FDD.
语种: 英语
WOS记录号: WOS:000351850200013
WOS标题词: Science & Technology ; Technology ; Physical Sciences
类目[WOS]: Automation & Control Systems ; Computer Science, Artificial Intelligence ; Mathematics, Applied
关键词[WOS]: TOLERANT CONTROL METHODS ; AERIAL VEHICLES ; KALMAN FILTER ; SENSOR
研究领域[WOS]: Automation & Control Systems ; Computer Science ; Mathematics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/16233
Appears in Collections:机器人学研究室_期刊论文

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