Acceleration-Feedback-Enhanced Robust Control of an Unmanned Helicopter

He, Yunbo; JD, Han

doi:10.2514/1.45659

Cited by 48 publications

(34 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…During the last decades, many models of SUHs have been proposed [1,6,14,17]. All of these models are compose of kinematics and dynamics.…”

Section: Unmanned Helicopter Modelingmentioning

confidence: 99%

Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

Theilliol

et al. 2016

J Intell Robot Syst

View full text Add to dashboard Cite

Actuator faults are inevitable but affect reliability and safety of unmanned helicopters (UHs), especially when there are actuator constraints. In this paper, self-healing control, which is an extended active fault-tolerant control (FTC) method with reference redesign on-line, is proposed to analyze and to guarantee the safety of single-rotor UHs (SUHs) under both actuator faults and constraints. The safety includes body safety and mission safety. More specifically, body safety represents the stability of SUH itself and mission safety represents mission accomplishment with acceptable performance, furthermore, set-point tracking mission is considered. The main contribution of this paper is to analyze and to guarantee the safety of SUHs by solving a set of Linear Matrix Inequalities (LMIs) at one time. The set of LMIs includes saturation compensator design and stability guaranty with a given controller in the absence of actuator constraints, actuator fault compensation analysis, reference reachability analysis and reference redesign. On the other hand, by adding swashplate configuration, SUH model with real actuator outputs as control inputs is constructed which can describe actuator faults more clearly compared to SUH models with nominal control inputs. Finally, the proposed self-healing control method is illustrated by simulation with a nonlinear SUH model.

show abstract

“…During the last decades, many models of SUHs have been proposed [1,6,14,17]. All of these models are compose of kinematics and dynamics.…”

Section: Unmanned Helicopter Modelingmentioning

confidence: 99%

Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

Theilliol

et al. 2016

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

“…where k b1s and k a1s are the rotor stiffness factors in the lateral and longitudinal axes, respectively; explicit coefficients are determined for a given helicopter and can be found in the work of He and Han (2010). There are two frames used in the helicopter description: the body coordinate frame and the inertial coordinate frame.…”

Section: Dynamic Model Of the Uhmentioning

confidence: 99%

“…The body frame is defined as shown in Fig. 3 (He and Han, 2010). The nose, right side and downward directions of the helicopter are defined as the x, y and z axes of the body frame, respectively, with the origin located at the center of gravity.…”

Section: Dynamic Model Of the Uhmentioning

confidence: 99%

“…The force T T and the torque Q T generated by the tail rotor can be calculated by θ T . The calculation of T M , Q M , T T , and Q T will be ignored for simplification since they are related to the complicated aerodynamics of rotor; details about the calculation are given by He and Han (2010).…”

Section: Dynamic Model Of the Uhmentioning

confidence: 99%

“…Given T M , Q M , T T , and Q T , the force and torque elements exerted on each axis are given as follows (He and Han, 2010):…”

Section: Dynamic Model Of the Uhmentioning

confidence: 99%

See 2 more Smart Citations

Simultaneous State and Parameter Estimation Based Actuator Fault Detection and Diagnosis for an Unmanned Helicopter

Song

et al. 2015

International Journal of Applied Mathematics and Computer Science

View full text Add to dashboard Cite

Simultaneous state and parameter estimation based actuator fault detection and diagnosis (FDD) for single-rotor unmanned helicopters (UHs) is investigated in this paper. A literature review of actuator FDD for UHs is given firstly. Based on actuator healthy coefficients (AHCs), which are introduced to represent actuator faults, a combined dynamic model is established with the augmented state containing both the flight state and AHCs. Then the actuator fault detection and diagnosis problem is transformed into a general nonlinear estimation one: given control inputs and the measured flight state contaminated by measurement noises, estimate both the flight state and AHCs recursively in each time-step, which is also known as the simultaneous state and parameter estimation problem. The estimated AHCs can further be used for fault tolerant control (FTC). Based on the existing widely used nonlinear estimation methods such as the unscented Kalman filter (UKF) and the extended set-membership filter (ESMF), three kinds of adaptive schemes (KF-UKF, MIT-UKF and MIT-ESMF) are proposed by our team to improve the actuator FDD performance. A comprehensive comparative study on these different estimation methods is given in detail to illustrate their advantages and disadvantages when applied to unmanned helicopter actuator FDD.

show abstract

Model reference resilient control for the helicopter with time‐varying disturbance

2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

In this paper, the problem of model reference resilient control is investigated for the helicopter system with the time-varying disturbance and unmeasurable states. Firstly, a disturbance observer and a state observer are built to estimate the time-varying disturbance and unmeasurable states. Then, combining the methods of model reference control and disturbance observer-based control, the state feedback robust resilient control scheme and the dynamic output feedback robust resilient control method are proposed, respectively. Under the two developed robust resilient control schemes, sufficient conditions are obtained to guarantee that the helicopter system asymptotically tracks the reference model with H ∞ performance. Finally, simulation results are presented to show the effectiveness of the model reference resilient control method. KEYWORDSdisturbance observer, dynamic output feedback control, helicopter, model reference control, resilient control, state observer INTRODUCTIONAs a very common aircraft, the helicopter has been used in many fields, such as transportation industry, communication, and local war. Different with other aircrafts, helicopters could be used in many special occasions for their unique capability, for example, first aid at sea, forest fire rescue, and commercial transportation in badly traffic place, because they can land or take off in a small limited space for example, in the work of Johnson. 1 Hence, the study of the helicopter control systems is very meaningful. Many books about helicopter control systems have been published, such as the works of Yang 2 and Mettler. 3 With the development of the helicopter, more and more results focus on the helicopter control system technique, and many excellent control methods have been used in helicopter control systems design in the works of Gadewadikar et al 4 and Mahony and Hamel. 5 Using the disturbance observer-based backstepping method, in the work of Lu et al, 6 a flight controller was designed for the small-scale helicopter. In the work of He and Han, 7 the method of feedback linearization was investigated for an unmanned helicopter model. So far, a number of results for the advanced control theory have been applied in many fields of helicopters. Meanwhile, the robustness and antidisturbance ability of the control system attract more and more attention from specialist of cybernetics.In many practical engineering applications, the systems often suffer from various disturbances and perturbations, for example, the system parameter uncertainty and the variation of external environment. Due to these disturbances, many excellent performances of control systems are always damaged, or even appear to instability. Hence, enhancing the antidisturbance ability of the closed-loop system is critical for designed controller. Many efficacious antidisturbance methods have been used to deal with the disturbances appearing in practical systems, such as the adaptive control, 8,9 the robust control, 10 the neural network control, 11,12 and the disturbance observ...

show abstract

Acceleration-Feedback-Enhanced Robust Control of an Unmanned Helicopter

Cited by 48 publications

References 17 publications

Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

Simultaneous State and Parameter Estimation Based Actuator Fault Detection and Diagnosis for an Unmanned Helicopter

Model reference resilient control for the helicopter with time‐varying disturbance

Contact Info

Product

Resources

About