NDLI: Integrated fault-tolerant control for a 3-DOF helicopter with actuator faults and saturation

Content Provider	IET Digital Library
Author	Lan, Jianglin Patton, Ron J. Zhu, Xiaoyuan
Abstract	This study proposes a fault estimation (FE)-based fault-tolerant control (FTC) strategy to maintain system reliability and achieve desirable control performance for a 3-DOF helicopter system with both actuator drift and oscillation faults and saturation. The effects of the faults and saturation are combined into a composite non-differentiable actuator fault function, which is approximated by a differentiable function and estimated together with the system state using a non-linear unknown input observer. An adaptive sliding mode controller based on the estimates is developed to compensate the effects of the faults and saturation. Taking into account the bi-directional robustness interactions between the FE and FTC functions, an integrated design approach is proposed to obtain the observer and controller gains in a single step, so as to achieve robust overall FTC system performance. In fault-free cases, the proposed strategy can be considered as a new approach for anti-windup control to compensate the effect of input saturation. Comparative simulations are provided to verify the effectiveness of the proposed design under different actuator fault scenarios.
Starting Page	2232
Ending Page	2241
Page Count	10
ISSN	17518644
Volume Number	11
e-ISSN	17518652
Issue Number	Issue 14, Sep (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/11/14
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2016.1602
Journal	IET Control Theory & Applications
Publisher Date	2017-05-11
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	3-DOF Helicopter System Actuating And Final Control Device Actuator Drift Actuator Saturation Actuators Adaptive Control Adaptive Sliding Mode Controller Aerospace Control Antiwindup Control Bidirectional Robustness Interactions Composite Nondifferentiable Actuator Fault Function Control System Analysis Control System Synthesis Controller Gain Differentiable Function Fault Estimation Fault Tolerant Control FE Function FTC Function Helicopters Integrated Design Approach Integrated Fault-tolerant Control Modelling And Identification Multivariable Control System Nonlinear Unknown Input Observer Observers Oscillation Fault Oscillation Saturation Self Adjusting Control System Simulation Synthesis Method System Reliability 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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