Fault tolerant control based on continuous twisting algorithms of a 3-DoF helicopter prototype

Pérez‐Ventura, Ulises; Fridman, Leonid; Capello, Elisa; Punta, Elisabetta

doi:10.1016/j.conengprac.2020.104486

Cited by 15 publications

(8 citation statements)

References 22 publications

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“…Subsequently, we considered a perturbed case with sinusoidal disturbances of frequency 0.5 rad/s and amplitude 0.25, 0.2, and 0.1 for the elevation, pitch, and travel dynamics, respectively. Moreover, the values of the parameters that were considered while linearizing the dynamics in [32] deviated up to 10% from their actual simulated values (notice that our method does not employ the parameters of the dynamic model and, therefore, is robust by construction against such type of uncertainties). In both cases, the goal was to drive the system to ( , φ) = (0, 0) from the initial condition ( (0), φ(0) = ( π 4 , π 3 ).…”

Section: Simulation Resultsmentioning

confidence: 96%

“…This section is devoted to the validation of the proposed scheme via a comparative simulation study 1 with a recent work [32], which proposes a fault-tolerant scheme based on continuous twisting algorithms (CTA). More specifically, Pérez-Ventura et al [32] consider the set-point regulation problem using linearization around the desired equilibrium and employing appropriately designed observers for the state derivatives. Moreover, the control scheme is shown to be robust to actuator faults of the form of voltage drop.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters With Prescribed Performance

Verginis

Bechlioulis

Soldatos

et al. 2022

IEEE/ASME Trans. Mechatron.

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This article presents a robust control scheme for the trajectory tracking problem of a three-degree-offreedom helicopter with prescribed transient and steadystate performance. The control design does not employ any information regarding the dynamics of the system. In addition, the transient and steady-state response of the system with respect to a given time-varying trajectory is a priori and explicitly imposed by certain designer-specified performance functions and is fully decoupled from the control gain selection and the dynamic model parameters. Finally, both simulation and experimental results verify the theoretical findings.

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Section: Simulation Resultsmentioning

confidence: 96%

Section: Simulation Resultsmentioning

confidence: 99%

Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters With Prescribed Performance

Verginis

Bechlioulis

Soldatos

et al. 2022

IEEE/ASME Trans. Mechatron.

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show abstract

“…The fault control principle consists of a continuous fast nonsingular TSM controller, retained due to its fast response and robustness to uncertainties, and it accommodates actuator faults in a finite time as well. The continuous TA is used in [130] for fault tolerance of motor faults of a 3-DoF helicopter prototype. A FDI unit is proposed based on the dynamic model of the helicopter, the inputs, the outputs, and some of its derivatives, provided in finite time by third-order sliding mode differentiators, which schedules the continuous twisting controller, ensuring de facto, fault tolerance.…”

Section: Aeronautical Applicationsmentioning

confidence: 99%

Sliding Mode Control with Application to Fault-Tolerant Control: Assessment and Open Problems

et al. 2021

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This paper is prepared within a collaboration between the Instituto Politécnico Nacional, which is a Mexican research institute that manages research on sliding-mode control theory, and the ARIA research team of the Intégration du Matériau au Système Lab., a French research group that engages research on model-based fault diagnosis and fault-tolerant control theories. The paper reviews the application of sliding mode control techniques to fault tolerant control and provides perspectives leading to posing some open problems. Operating principles, definitions of the basic concepts are recalled along with the control objectives and design procedures. The evolution of the sliding mode control technique through five generations (as classified by Fridman, Moreno and co-workers) is reviewed. Their respective design procedures, limitations, and robustness properties are also highlighted. The application of the five generations of sliding-mode controllers to fault-tolerant control is discussed. The focus is on some open problems that are judged to commonly be overlooked. Some applications in real-world systems are also presented.

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“…Lemma 6 ( [18]): Suppose that α r (t) is a continuous and piecewise twice differentiable signal. For the differentiator (12), there exist ρ > 0 (ργ 2 > 2) and Γ > 0 such that…”

Section: B Lemmasmentioning

confidence: 99%

“…In [9], a NN backstepping control method combined with command filtering was proposed to investigate the tracking control problem of a 3-DOF helicopter. Furthermore, the fault-tolerant control of the 3-DOF helicopter system was studied in [10]- [12]. Unfortunately, most of the control approaches mentioned above are asymptotically stable or ultimately uniformly bounded, which means that the closed-loop system converges to the equilibrium point or the neighborhood of the equilibrium point in infinite time, while the finite-time stability of 3-DOF helicopter control is seldom considered in the literature.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Smooth Disturbance Observer-Based Fast Finite-Time Attitude Tracking Control of a Small Unmanned Helicopter

Wang,

Li,

et al. 2021

Preprint

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In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an adaptive smooth disturbance observer (ASDO) is proposed to estimate the composite disturbance, which owns the characteristics of smooth output, fast finite-time convergence, and adaptability to the disturbance of unknown derivative boundary. Then, a finite-time backstepping control protocol is construct to drive the elevation and pitch angles to track reference trajectories. To tackle the "explosion of complexity" and "singularity" problems in the conventional backstepping design framework, a fast finite-time command filter (FFTCF) is utilized to estimate the virtual control signal and its derivative. Moreover, a fractional power-based auxiliary dynamic system is introduced to compensate the error caused by the FFTCF estimation. Furthermore, an improved fractional power-based adaptive law with the σ-modification term is designed to attenuate the observer approximation error, such that the tracking performance is further enhanced. In terms of the fast finitetime stability theory, the signals of the closed-loop system are all fast finite-time bounded while the attitude tracking errors can fast converge to a sufficiently small region of the origin in finite time. Finally, a contrastive numerical simulation is carried out to validate the effectiveness and superiority of the designed control scheme. Index Terms-Finite-time backstepping control, adaptive smooth disturbance observer (ASDO), fast finite-time command filter (FFTCF), fractional power-based adaptive law with the σ-modification term, 3-DOF helicopter.

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Fault tolerant control based on continuous twisting algorithms of a 3-DoF helicopter prototype

Cited by 15 publications

References 22 publications

Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters With Prescribed Performance

Robust Trajectory Tracking Control for Uncertain 3-DOF Helicopters With Prescribed Performance

Sliding Mode Control with Application to Fault-Tolerant Control: Assessment and Open Problems

Adaptive Smooth Disturbance Observer-Based Fast Finite-Time Attitude Tracking Control of a Small Unmanned Helicopter

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