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Observer-based linear parameter varying control design with unmeasurable varying parameters under sensor faults for quad-tilt rotor unmanned aerial vehicle
Liu Z(刘重)1,2,3; Theilliol, Didier4; Yang LY(杨丽英)1,2; He YQ(何玉庆)1,2; Han JD(韩建达)1,2,5
Department机器人学研究室
Corresponding AuthorTheilliol, Didier(didier.theilliol@univ-lorraine.fr)
Source PublicationAerospace Science and Technology
ISSN1270-9638
2019
Volume92Pages:696-713
Indexed BySCI ; EI
EI Accession number20192807157810
WOS IDWOS:000485852600058
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China
KeywordTilt rotor UAV LPV system Unmeasurable varying parameter Sensor fault
AbstractThe tilt rotor unmanned aerial vehicle (TRUAV) has attracted considerable attention in recent years, and its control design, particularly during the transition procedure, is still a challenge. Aiming at this difficulty and by introducing virtual control inputs, a nonlinear model of the TRUAV as an equivalent linear parameter varying (LPV) system for controller design of these virtual values is considered in this study. With this idea, one of the main contributions of this paper is that the stability of TRUAV during the transition procedure could be ensured asymptotically in theory. An observer-based LPV control with fault-tolerant ability is synthesized considering the unmeasurable varying parameters of this LPV controlled plant and the underlying sensor faults. The second main contribution is to analyze the closed-loop stability with unmeasurable features and bias sensor faults using parameter-dependent Lyapunov matrices. The performances of proposed control method for TRUAV under sensor faults are illustrated with numerical results.
Language英语
WOS SubjectEngineering, Aerospace
WOS KeywordTOLERANT CONTROL ; STABILITY ANALYSIS ; TRACKING CONTROL ; LPV SYSTEMS
WOS Research AreaEngineering
Funding ProjectNational Natural Science Foundation of China[61473282] ; National Natural Science Foundation of China[61503369] ; National Natural Science Foundation of China[U1508208]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25308
Collection机器人学研究室
Corresponding AuthorTheilliol, Didier
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning Province 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.CRAN UMR 7039, CNRS, University of Lorraine, Faculte des Sciences et Techniques, B.P. 70239, Vandoeuvre-les-Nancy 54506, France
5.College of Artificial Intelligence, Nankai University, Tianjin 300350, China
Recommended Citation
GB/T 7714
Liu Z,Theilliol, Didier,Yang LY,et al. Observer-based linear parameter varying control design with unmeasurable varying parameters under sensor faults for quad-tilt rotor unmanned aerial vehicle[J]. Aerospace Science and Technology,2019,92:696-713.
APA Liu Z,Theilliol, Didier,Yang LY,He YQ,&Han JD.(2019).Observer-based linear parameter varying control design with unmeasurable varying parameters under sensor faults for quad-tilt rotor unmanned aerial vehicle.Aerospace Science and Technology,92,696-713.
MLA Liu Z,et al."Observer-based linear parameter varying control design with unmeasurable varying parameters under sensor faults for quad-tilt rotor unmanned aerial vehicle".Aerospace Science and Technology 92(2019):696-713.
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