NDLI: Extended state observer-based sliding mode fault-tolerant control for unmanned autonomous helicopter with wind gusts

Content Provider	IET Digital Library
Author	Yan, Kun Chen, Mou Wu, Qingxian Jiang, Bin
Abstract	This study proposes a sliding mode fault-tolerant control (FTC) scheme for the medium-scale unmanned autonomous helicopter with rotor flapping dynamics in the presence of wind gusts and actuator faults using extended state observer technique. The radial basis function neural networks are employed to tackle the unknown non-linear interaction functions and adaptive neural network extended state observers are constructed to estimate the unknown wind gusts. Meanwhile, the adaptive fault observers are developed to estimate the fault parameters in position, attitude and flapping motion subsystems. With the aim of obtaining satisfactory trajectory tracking performance, a robust adaptive sliding mode FTC scheme is presented based on the backstepping sliding mode control technique and the closed-loop system stability is rigorously proved via Lyapunov analysis. Simulation results are carried out to validate the effectiveness of the proposed control method.
Starting Page	1500
Ending Page	1513
Page Count	14
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 10, Jul (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/10
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.5341
Journal	IET Control Theory & Applications
Publisher Date	2019-04-11
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuator Fault Actuators Adaptive Control Adaptive Fault Observers Adaptive Neural Network Extended State Observers Aerospace Control Aircraft Control Autonomous Aerial Vehicle Closed Loop System Control Nonlinearities Control System Analysis Control System Synthesis Extended State Observer Technique Extended State Observer-based Fault Parameter Fault Tolerant Control Helicopters Lyapunov Method Medium-scale Unmanned Autonomous Helicopter Mobile Robots Modelling And Identification Multivariable Control System Neurocontrol Neurocontrollers Nonlinear Control System Nonlinear Interaction Function Observers Radial Basis Function Network Radial Basis Function Neural Network Remotely Operated Vehicle Robust Adaptive Sliding Mode FTC Scheme Robust Control Self Adjusting Control System Simulation Sliding Mode Fault-tolerant Control Scheme Spatial Variables Control Stability in Control Theory Synthesis Method Telerobotics Unknown Wind Gusts Variable Structure System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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