Abstract
In this paper, an improved reconfiguration control scheme via an H∞ fault observer and adaptive control is studied for the quad-rotor helicopter with actuator faults. The bilinear problem is eliminated by constructing fault compensation and control law reconfiguration in the adaptive controller. Fault estimation is achieved by designing the fault observer with an H∞ performance index, which is applied to evaluate the ‘locking in place’ fault of the actuator in a quad-rotor helicopter. By drawing the H∞ performance index into the adaptive fault observer, an asymptotically convergent estimated error can be attained and the burden of the adaptive controller is alleviated. Some simulation and experimental results confirm the availability of the reconfiguration control scheme.
Highlights
The essential needs of surveillance, rescue, military and security applications put unmanned aerial vehicles (UAV)have been central to the concerns of researchers and engineers in the last decade than in any period since
Many control approaches have been investigated for the quad-rotor helicopter, such as backstepping control [6], sliding mode control [7], LQ control [8] and neural network control [9], to solve these problems
Model-based fault detection and isolation (FDI) algorithms have been the subject of intensive investigation over the past two decades [10,11,12,13,14]
Summary
The essential needs of surveillance, rescue, military and security applications put unmanned aerial vehicles (UAV). The problems of fault detection and estimation for non-linear dynamics are considered by [18]. An issue concerning observer-based integrated robust fault estimation and accommodation of a class of discrete-time uncertain non-linear systems is studied by [19]. A sliding model observer-based fault estimation method is presented by [21] for a class of nonlinear networked control systems with transfer delays. [23] presents an approach to the design of an H∞ robust observer-based fault detection scheme for diagnosing incipient faults. [24] addresses sensor fault detection and isolation problems for linear time-invariant systems, where the design conditions are derived with H∞ performance. An H∞ performance index-based fault observer is designed to compensate for the defect in the adaptive control.
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