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Self-healing control against actuator stuck failures under constraints: Application to unmanned helicopters
Qi X(齐欣); Theilliol, Didier; Qi JT(齐俊桐); Zhang YM(张友民); Han JD(韩建达)
作者部门机器人学研究室
会议名称12th International Conference on Diagnostics of Processes and Systems, DPS 2015
会议日期September 6-9, 2015
会议地点Ustka, Poland
会议主办者Faculty of Electronics, Telecommunications and Informatics; Gdansk University of Technology; Polish Academy of Sciences, Automatic Control and Robotics Committee; Polish Consultants Society; Polish Society for Measurement Automatic Control and Robotics (POLSPAR)
会议录名称Advances in Intelligent Systems and Computing
出版者Springer Verlag
出版地Berlin
2015
页码193-207
收录类别EI
EI收录号20154501506577
产权排序1
ISBN号978-3-319-23179-2
关键词Fault-tolerant Systems Actuators Stuck Saturation Autonomous Vehicles
摘要This paper investigates the problem of actuator stuck failures under constraints. In order to guarantee the post-failure system stability and acceptable performance, self-healing control framework is proposed which includes self-healing management module, fault-tolerant controller, reference redesigner and anti-windup compensator. Because of the existence of actuator constraints, the post-failure system may be unstable and the reference may be unreachable. Hence, fault-tolerant controller with anti-windup compensator was used to guarantee stability which was proved by introducing H∞ performance. Reachability of reference was analyzed by self-healing management module and a new reference could be calculated by reference redesigner. At last, the proposed self-healing framework was applied to a linear unmanned helicopter model for velocities and yaw tracking control.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17192
专题机器人学研究室
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Lorraine, CRAN-CNRS, UMR 7039, BP 70239, Vandoeuvre Cedex, France
3.Concordia University, Montreal, QC, Canada
推荐引用方式
GB/T 7714
Qi X,Theilliol, Didier,Qi JT,et al. Self-healing control against actuator stuck failures under constraints: Application to unmanned helicopters[C]//Faculty of Electronics, Telecommunications and Informatics; Gdansk University of Technology; Polish Academy of Sciences, Automatic Control and Robotics Committee; Polish Consultants Society; Polish Society for Measurement Automatic Control and Robotics (POLSPAR). Berlin:Springer Verlag,2015:193-207.
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