Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness

Abstract

Due to the convenience in applications, interconnection and damping assignment passivity-based control (IDA-PBC) is applied widely to reformulate the nonlinear robust control as the total energy shaping. However, only few researches focus on the fault-tolerant control (FTC) method based on IDA-PBC, which limits its applications under actuator faults. To break this limitation, this paper improves the IDA-PBC with fault-tolerant ability, and the main contributions are to propose high-gain and adaptive IDA-PBC methods under loss of actuator effectiveness. The simulation and experiment results with a rotorcraft unmanned aerial vehicle (RUAV) are presented to illustrate the control effectiveness of the improved IDA-PBC methods.