Self-healing control against actuator stuck failures under constraints: Application to unmanned helicopters

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	Self-healing control against actuator stuck failures under constraints: Application to unmanned helicopters
	Qi X(齐欣); Theilliol, Didier; Qi JT(齐俊桐); Zhang YM(张友民); Han JD(韩建达)
	2015
会议名称	12th International Conference on Diagnostics of Processes and Systems, DPS 2015
会议日期	September 6-9, 2015
会议地点	Ustka, Poland
关键词	Fault-tolerant systems Actuators Stuck Saturation Autonomous vehicles
页码	193-207
中文摘要	This paper investigates the problem of actuator stuck failures under constraints. In order to guarantee the post-failure system stability and acceptable performance, self-healing control framework is proposed which includes self-healing management module, fault-tolerant controller, reference redesigner and anti-windup compensator. Because of the existence of actuator constraints, the post-failure system may be unstable and the reference may be unreachable. Hence, fault-tolerant controller with anti-windup compensator was used to guarantee stability which was proved by introducing H∞ performance. Reachability of reference was analyzed by self-healing management module and a new reference could be calculated by reference redesigner. At last, the proposed self-healing framework was applied to a linear unmanned helicopter model for velocities and yaw tracking control.
收录类别	EI
产权排序	1
会议主办者	Faculty of Electronics, Telecommunications and Informatics; Gdansk University of Technology; Polish Academy of Sciences, Automatic Control and Robotics Committee; Polish Consultants Society; Polish Society for Measurement Automatic Control and Robotics (POLSPAR)
会议录	Advances in Intelligent Systems and Computing
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISBN号	978-3-319-23179-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17192]
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,Theilliol, Didier,Qi JT,et al. Self-healing control against actuator stuck failures under constraints: Application to unmanned helicopters[C]. 见:12th International Conference on Diagnostics of Processes and Systems, DPS 2015. Ustka, Poland. September 6-9, 2015.