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	Observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault
	Liu Z(刘重)1,3,4; Theilliol, Didier2; Yang LY(杨丽英)1,4; He YQ(何玉庆)1,4; Han JD(韩建达)1,4,5,6
	2020
出处	Fault Diagnosis and Fault-Tolerant Control of Robotic and Autonomous Systems
出版地	London
出版者	IET
ISBN号	978-1-78561-830-7
页码	43-66
产权排序	1
英文摘要	This chapter introduces the control method of the quad-TRUAV in the transition procedure under rotor -tilt axle stuck fault. By introducing virtual control inputs, the nonlinear model of the quad-TRUAV is transformed into the LPV form, and observer based LPV control is proposed to ensure the closed -loop stability of controlled plant. For applied control inputs, the inverse procedure is designed further, and the stability of transition procedure is ensured asymptotically in theory. After rotor -tilt axle stuck fault, the inverse procedure is reconstructed with degraded dynamics by ignoring velocity control. With the redesigned reference value of angle of attack, the cruise ability of TRUAV under stuck fault is still kept.
语种	英语
内容类型	专著章节
源URL	[http://ir.sia.cn/handle/173321/29701]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Liu Z(刘重)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China 2.Faculte des Sciences et Techniques, CRAN UMR 7039, CNRS, University of Lorraine, B.P. 70239, Vandoeuvre-lès-Nancy, 54506, France 3.University of Chinese Academy of Sciences, Beijing, 100049, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China 5.Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin, 300350, China 6.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
推荐引用方式 GB/T 7714	Liu Z,Theilliol, Didier,Yang LY,et al. Observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault. London:IET,2020:43-66.

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