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Experimental Investigation for RUAV's Actuator Fault Detections with AESMF
Song DL(宋大雷); Qi JT(齐俊桐); Yang LY(杨丽英); Han JD(韩建达)
Department机器人学研究室
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8806
2015
Volume12Pages:1-13
Indexed BySCI ; EI
EI Accession number20153101104529
WOS IDWOS:000357686200001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China [61203334, 61433016]
KeywordRuav Actuator Fault Detection Aesmf Flight Experiment Investigation
AbstractThe adaptive extended set-membership filter (AESMF) algorithm for robots' online modelling is today proposed for use in this field. Compared to the traditional ESMF, this novel filter method improves estimation accuracy under variable boundaries of unknown but bounded (UBB) process noise, which is often caused by the uncertainties of robotic dynamics. However, the applicability and stability of the AESMF method have not been tested in detail or demonstrated for real robotic systems. In this research, AESMF is applied for the actuator fault detections of a rotor-craft unmanned air vehicle (RUAV). The stability of AESMF is firstly analysed using mathematics and actuator healthy coefficients (AHC) are introduced for building the actuator failure model of RUAVs. AESMF is employed for the online boundary estimation of flight states and AHC parameters for fault tolerance control. Based on the proposed AESMF actuator fault estimation, flight experiments are conducted using a ServoHeli-40 RUAV platform and the flight results are compared with traditional ESMF and the adaptive extended Kalman filter (AEKF) in order to demonstrate its effectiveness, as well as for suggesting improvements for the actuator failure detection of RUAVs.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectRobotics
WOS KeywordFILTER ; ALGORITHM ; SYSTEMS ; ROBOT
WOS Research AreaRobotics
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/16858
Collection机器人学研究室
Corresponding AuthorSong DL(宋大雷)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Song DL,Qi JT,Yang LY,et al. Experimental Investigation for RUAV's Actuator Fault Detections with AESMF[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2015,12:1-13.
APA Song DL,Qi JT,Yang LY,&Han JD.(2015).Experimental Investigation for RUAV's Actuator Fault Detections with AESMF.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,12,1-13.
MLA Song DL,et al."Experimental Investigation for RUAV's Actuator Fault Detections with AESMF".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 12(2015):1-13.
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