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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)
Department机器人学研究室
Source PublicationINTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE
ISSN1641-876X
2015
Volume25Issue:1Pages:175-187
Indexed BySCI ; EI
EI Accession number20151500723955
WOS IDWOS:000351850200013
Contribution Rank1
Funding OrganizationNational Key Technology Research and Development Program of China [2013BAK03B01] ; National Natural Science Foundation of China [61433016, 61203334]
KeywordActuator Fault Detection And Diagnosis Unmanned Helicopter Kalman Filter Set-membership Filter Adaptive Scheme
AbstractSimultaneous 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 HeadingsScience & Technology ; Technology ; Physical Sciences
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Mathematics, Applied
WOS KeywordTOLERANT CONTROL METHODS ; AERIAL VEHICLES ; KALMAN FILTER ; SENSOR
WOS Research AreaAutomation & Control Systems ; Computer Science ; Mathematics
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16233
Collection机器人学研究室
Corresponding AuthorQi JT(齐俊桐)
Affiliation1.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.
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