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Self-Healing Control Framework Against Actuator Fault of Single-Rotor Unmanned Helicopters
Qi X(齐欣); Liu Z(刘重); Yang LY(杨丽英); He YQ(何玉庆); Han JD(韩建达)
作者部门机器人学研究室
专著(文集)名Recent Progress in Some Aircraft Technologies
编著者Agarwal, Ramesh K.
出版者InTech
出版地Rijeka, Croatia
2016
ISBN号978-953-51-2481-8
出处页码113-136
关键词Fault Detection And Diagnosis Fault-tolerant Control Invariant Set Self-healing Control Framework Trajectory (Re-)Planning
摘要Unmanned helicopters (UHs) develop quickly because of their ability to hover and low speed flight. Facing different work conditions, UHs require the ability to safely operate under both external environment constraints, such as obstacles, and their own dynamic limits, especially after faults occurrence. To guarantee the postfault UH system safety and maximum ability, a self‐healing control (SHC) framework is presented in this chapter which is composed of fault detection and diagnosis (FDD), fault‐tolerant control (FTC), trajectory (re‐)planning, and evaluation strategy. More specifically, actuator faults and saturation constraints are considered at the same time. Because of the existence of actuator constraints, usable actuator efficiency would be reduced after actuator fault occurrence. Thus, the performance of the postfault UH system should be evaluated to judge whether the original trajectory and reference is reachable, and the SHC would plan a new trajectory to guarantee the safety of the postfault system under environment constraints. At last, the effectiveness of proposed SHC framework is illustrated by numerical simulations.
语种英语
产权排序1
文献类型专著章节/文集论文
条目标识符http://ir.sia.cn/handle/173321/19502
专题机器人学研究室
通讯作者He YQ(何玉庆)
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R.China
2.University of Chinese Academy of Sciences, Beijing, P.R.China
推荐引用方式
GB/T 7714
Qi X,Liu Z,Yang LY,et al. Self-Healing Control Framework Against Actuator Fault of Single-Rotor Unmanned Helicopters. Recent Progress in Some Aircraft Technologies. Rijeka, Croatia:InTech,2016:113-136.
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