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Mode Transition and Fault Tolerant Control under Rotor-tilt Axle Stuck Fault of Quad-TRUAV
Liu Z(刘重)1,2; Theilliol, Didier3; Yang LY(杨丽英)1; He YQ(何玉庆)1; Han JD(韩建达)1
Department机器人学研究室
Source PublicationIFAC-PapersOnLine
ISSN2405-8963
2018
Volume51Issue:24Pages:991-997
Indexed ByEI ; CPCI(ISTP)
EI Accession number20184105937314
WOS IDWOS:000447016900146
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China (Nos. U1608253 and U1508208)
KeywordTilt Rotor Unmanned Aerial Vehicle Transition Procedure Nonlinear Control Backstepping Stuck Fault Fault Tolerant Control
Abstract

Tilt rotor unmanned aerial vehicle (TRUAV) is a transformable aircraft with abilities of hovering and high-speed cruise. Its transition control is still a difficult point due to varying structure and dynamic behaviour. The main contribution of this paper is to put forward a transition control method based on backstepping for a quad-TRUAV, and fault tolerant control is researched to keep its cruise ability under rotor-tilt axle stuck fault. Explicit mode transition would be avoided by regarding rotor-tilt angle as a control input generated from decoupling with virtual control variables. Numerical results in transition procedure and facing rotor-tilt axle faults are provided to illustrate control effectiveness.

Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23355
Collection机器人学研究室
Corresponding AuthorLiu Z(刘重)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
2.University of Chinese Academy of Sciences, Beijing
3.CRAN UMR 7039, CNRS, University of Lorraine, Faculte des Sciences et Techniques, B.P. 70239, VANDOEUVRE-LES-NANCY 54506, France
Recommended Citation
GB/T 7714
Liu Z,Theilliol, Didier,Yang LY,et al. Mode Transition and Fault Tolerant Control under Rotor-tilt Axle Stuck Fault of Quad-TRUAV[J]. IFAC-PapersOnLine,2018,51(24):991-997.
APA Liu Z,Theilliol, Didier,Yang LY,He YQ,&Han JD.(2018).Mode Transition and Fault Tolerant Control under Rotor-tilt Axle Stuck Fault of Quad-TRUAV.IFAC-PapersOnLine,51(24),991-997.
MLA Liu Z,et al."Mode Transition and Fault Tolerant Control under Rotor-tilt Axle Stuck Fault of Quad-TRUAV".IFAC-PapersOnLine 51.24(2018):991-997.
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