| Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness | |
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)1,2,5,6
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| Department | 机器人学研究室 |
| Source Publication | Journal of Intelligent and Robotic Systems: Theory and Applications
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| ISSN | 0921-0296 |
| 2020 | |
| Volume | 100Issue:1Pages:29-45 |
| Indexed By | SCI ; EI |
| EI Accession number | 20201508387228 |
| WOS ID | WOS:000564450700001 |
| Contribution Rank | 1 |
| Funding Organization | National Key Research and Development Program of China (No. 2017YFD0701002) ; National Natural Science Foundation of China (Nos. 91748130 and U1608253) |
| Keyword | IDA-PBC Loss of actuator effectiveness Passive FTC RUAV |
| Abstract | Due to the convenience in applications, interconnection and damping assignment passivity-based control (IDA-PBC) is applied widely to reformulate the nonlinear robust control as the total energy shaping. However, only few researches focus on the fault-tolerant control (FTC) method based on IDA-PBC, which limits its applications under actuator faults. To break this limitation, this paper improves the IDA-PBC with fault-tolerant ability, and the main contributions are to propose high-gain and adaptive IDA-PBC methods under loss of actuator effectiveness. The simulation and experiment results with a rotorcraft unmanned aerial vehicle (RUAV) are presented to illustrate the control effectiveness of the improved IDA-PBC methods. |
| Language | 英语 |
| WOS Subject | Computer Science, Artificial Intelligence ; Robotics |
| WOS Keyword | FAULT-TOLERANT CONTROL ; MECHANICAL SYSTEMS ; IDA-PBC ; SUBJECT |
| WOS Research Area | Computer Science ; Robotics |
| Funding Project | National Key Research and Development Program of China[2017YFD0701002] ; National Natural Science Foundation of China[91748130] ; National Natural Science Foundation of China[U1608253] |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/26659 |
| Collection | 机器人学研究室 |
| Corresponding Author | Theilliol, Didier |
| Affiliation | 1.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 110169, 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, Vandœuvre-Lés-Nancy 54506, France 5.Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University, Tianjin, China 6.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China |
| Recommended Citation GB/T 7714 | Liu Z,Theilliol, Didier,Yang LY,et al. Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness[J]. Journal of Intelligent and Robotic Systems: Theory and Applications,2020,100(1):29-45. |
| APA | Liu Z,Theilliol, Didier,Yang LY,He YQ,&Han JD.(2020).Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness.Journal of Intelligent and Robotic Systems: Theory and Applications,100(1),29-45. |
| MLA | Liu Z,et al."Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness".Journal of Intelligent and Robotic Systems: Theory and Applications 100.1(2020):29-45. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Interconnection and （1882KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View Application Full Text | |
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