Title :
Self healing control method against unmanned helicopter actuator stuck faults
Author :
Xin Qi ; Theilliol, Didier ; Juntong Qi ; Youmin Zhang ; Ling Wang ; Jianda Han
Author_Institution :
State Key Lab. of Robot., Shenyang Inst. of Autom.(SIA), Shenyang, China
Abstract :
A self healing (SH) control framework is proposed in this paper against actuator stuck faults. For unmanned helicopters (UHs), the framework is composed by an active fault-tolerant control (FTC) system and reference redesign. The FTC system is based on linear-quadratic regulator (LQR) and pseudo inverse technique, which can compensate stuck faults of the post-fault system with output analytical redundancy (OAR) feature. The post-fault system may not achieve the original reference because remaining actuators´ margin will degrade after stuck-fault compensation. A new reference is necessary for the post-fault system, which can be achieved by reference redesign method based on solving an optimal problem. At last the proposed SH framework is illustrated with a linear unmanned helicopter model, which includes rotor-speed control input and swashplate configuration.
Keywords :
actuators; autonomous aerial vehicles; controllers; fault diagnosis; helicopters; rotors (mechanical); velocity control; active fault-tolerant control system; linear unmanned helicopter model; linear-quadratic regulator; output analytical redundancy feature; post-fault system; pseudo inverse technique; reference redesign; rotor-speed control input; self healing control method; swashplate configuration; unmanned helicopter actuator stuck faults; Actuators; Feedforward neural networks; Helicopters; Redundancy; Rotors; Steady-state; Vectors;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2014 International Conference on
Conference_Location :
Orlando, FL
DOI :
10.1109/ICUAS.2014.6842331