Self-Healing Control Framework Against Actuator Fault of Single-Rotor Unmanned Helicopters

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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)
专著(文集)名	Recent Progress in Some Aircraft Technologies
其他责任者	Agarwal, Ramesh K.
	2016
出版者	InTech ; InTech
出版地	Rijeka, Croatia ; Rijeka, Croatia
出处页码	113-136
关键词	fault detection and diagnosis fault-tolerant control invariant set self-healing control framework trajectory (re-)planning fault detection and diagnosis fault-tolerant control invariant set self-healing control framework trajectory (re-)planning
出版者	InTech ; InTech
出版地	Rijeka, Croatia ; Rijeka, Croatia
关键词	fault detection and diagnosis fault-tolerant control invariant set self-healing control framework trajectory (re-)planning fault detection and diagnosis fault-tolerant control invariant set self-healing control framework trajectory (re-)planning
产权排序	1
中文摘要	Unmanned 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.
ISBN号	978-953-51-2481-8
语种	英语
内容类型	专著章节/文集论文
源URL	[http://ir.sia.cn/handle/173321/19502]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 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, Rijeka, Croatia:InTech, InTech,2016:113-136.