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.
Self healing control method against unmanned helicopter actuator stuck faults
2014-05-01
1286091 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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