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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
Department机器人学研究室
Source PublicationJournal of Intelligent and Robotic Systems: Theory and Applications
ISSN0921-0296
2020
Volume100Issue:1Pages:29-45
Indexed BySCI ; EI
EI Accession number20201508387228
WOS IDWOS:000564450700001
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China (No. 2017YFD0701002) ; National Natural Science Foundation of China (Nos. 91748130 and U1608253)
KeywordIDA-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 SubjectComputer Science, Artificial Intelligence ; Robotics
WOS KeywordFAULT-TOLERANT CONTROL ; MECHANICAL SYSTEMS ; IDA-PBC ; SUBJECT
WOS Research AreaComputer Science ; Robotics
Funding ProjectNational 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
Identifierhttp://ir.sia.cn/handle/173321/26659
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 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.
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