| SIMULTANEOUS STATE AND PARAMETER ESTIMATION BASED ACTUATOR FAULT DETECTION AND DIAGNOSIS FOR AN UNMANNED HELICOPTER | |
Wu C(吴冲) ; Qi JT(齐俊桐); Song DL(宋大雷); Qi X(齐欣); Han JD(韩建达)
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| Department | 机器人学研究室 |
| Source Publication | INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE
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| ISSN | 1641-876X |
| 2015 | |
| Volume | 25Issue:1Pages:175-187 |
| Indexed By | SCI ; EI |
| EI Accession number | 20151500723955 |
| WOS ID | WOS:000351850200013 |
| Contribution Rank | 1 |
| Funding Organization | National Key Technology Research and Development Program of China [2013BAK03B01] ; National Natural Science Foundation of China [61433016, 61203334] |
| Keyword | Actuator Fault Detection And Diagnosis Unmanned Helicopter Kalman Filter Set-membership Filter Adaptive Scheme |
| Abstract | 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. |
| Language | 英语 |
| WOS Headings | Science & Technology ; Technology ; Physical Sciences |
| WOS Subject | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Mathematics, Applied |
| WOS Keyword | TOLERANT CONTROL METHODS ; AERIAL VEHICLES ; KALMAN FILTER ; SENSOR |
| WOS Research Area | Automation & Control Systems ; Computer Science ; Mathematics |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/16233 |
| Collection | 机器人学研究室 |
| Corresponding Author | Qi JT(齐俊桐) |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114 Nanta Street, Shenyang, Liaoning Province, China 2.University of Chinese Academy of Sciences, No. 19A Yuquan Road, Beijing, China |
| Recommended Citation GB/T 7714 | Wu C,Qi JT,Song DL,et al. SIMULTANEOUS STATE AND PARAMETER ESTIMATION BASED ACTUATOR FAULT DETECTION AND DIAGNOSIS FOR AN UNMANNED HELICOPTER[J]. INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE,2015,25(1):175-187. |
| APA | Wu C,Qi JT,Song DL,Qi X,&Han JD.(2015).SIMULTANEOUS STATE AND PARAMETER ESTIMATION BASED ACTUATOR FAULT DETECTION AND DIAGNOSIS FOR AN UNMANNED HELICOPTER.INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE,25(1),175-187. |
| MLA | Wu C,et al."SIMULTANEOUS STATE AND PARAMETER ESTIMATION BASED ACTUATOR FAULT DETECTION AND DIAGNOSIS FOR AN UNMANNED HELICOPTER".INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE 25.1(2015):175-187. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| SIMULTANEOUS STATE A（1464KB） | 期刊论文 | 出版稿 | 开放获取 | ODC PDDL | View Application Full Text | |
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