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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)
Department机器人学研究室
Source PublicationRecent Progress in Some Aircraft Technologies
ContributorAgarwal, Ramesh K.
PublisherInTech
Publication PlaceRijeka, Croatia
2016
ISBN978-953-51-2481-8
Pages113-136
KeywordFault Detection And Diagnosis Fault-tolerant Control Invariant Set Self-healing Control Framework Trajectory (Re-)Planning
AbstractUnmanned 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.
Language英语
Contribution Rank1
Document Type专著章节/文集论文
Identifierhttp://ir.sia.cn/handle/173321/19502
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R.China
2.University of Chinese Academy of Sciences, Beijing, P.R.China
Recommended Citation
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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