Adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator fault
A backstepping-based robust adaptive fault tolerant control (FTC) scheme is proposed for the altitude and attitude dynamic model of the medium-scale unmanned autonomous helicopter (UAH) subjected to external disturbance and actuator fault. The external disturbance and actuator fault are integrated i...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-11-01
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| Series: | The Journal of Engineering |
| Subjects: | |
| Online Access: | https://digital-library.theiet.org/content/journals/10.1049/joe.2019.1080 |
| _version_ | 1818428629550366720 |
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| author | Kun Yan Mou Chen Qingxian Wu Yuhui Wang |
| author_facet | Kun Yan Mou Chen Qingxian Wu Yuhui Wang |
| author_sort | Kun Yan |
| collection | DOAJ |
| description | A backstepping-based robust adaptive fault tolerant control (FTC) scheme is proposed for the altitude and attitude dynamic model of the medium-scale unmanned autonomous helicopter (UAH) subjected to external disturbance and actuator fault. The external disturbance and actuator fault are integrated into the medium-scale UAH altitude and attitude dynamic model. Since the actuator fault is uncertain in occurring time instant, the adaptive control approach is adopted to compensate for its negative effect. Meanwhile, the upper bound of external disturbance is estimated and the estimation is employed to design the controller. Based on the backstepping control technique, a robust adaptive FTC law is developed, which guarantees the desired system stability as well as the satisfactory tracking property. Simulation studies verify the effectiveness of the designed controller. |
| first_indexed | 2024-12-14T15:04:40Z |
| format | Article |
| id | doaj.art-0be169240c804e958699f653fa389a16 |
| institution | Directory Open Access Journal |
| issn | 2051-3305 |
| language | English |
| last_indexed | 2024-12-14T15:04:40Z |
| publishDate | 2019-11-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Journal of Engineering |
| spelling | doaj.art-0be169240c804e958699f653fa389a162022-12-21T22:56:43ZengWileyThe Journal of Engineering2051-33052019-11-0110.1049/joe.2019.1080JOE.2019.1080Adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator faultKun Yan0Mou Chen1Qingxian Wu2Yuhui Wang3College of Automation Engineering, Nanjing University of Aeronautics and AstronauticsCollege of Automation Engineering, Nanjing University of Aeronautics and AstronauticsCollege of Automation Engineering, Nanjing University of Aeronautics and AstronauticsCollege of Automation Engineering, Nanjing University of Aeronautics and AstronauticsA backstepping-based robust adaptive fault tolerant control (FTC) scheme is proposed for the altitude and attitude dynamic model of the medium-scale unmanned autonomous helicopter (UAH) subjected to external disturbance and actuator fault. The external disturbance and actuator fault are integrated into the medium-scale UAH altitude and attitude dynamic model. Since the actuator fault is uncertain in occurring time instant, the adaptive control approach is adopted to compensate for its negative effect. Meanwhile, the upper bound of external disturbance is estimated and the estimation is employed to design the controller. Based on the backstepping control technique, a robust adaptive FTC law is developed, which guarantees the desired system stability as well as the satisfactory tracking property. Simulation studies verify the effectiveness of the designed controller.https://digital-library.theiet.org/content/journals/10.1049/joe.2019.1080control system synthesisadaptive controlrobust controlnonlinear control systemscontrol nonlinearitiesfault tolerant controlhelicoptersuncertain systemsattitude controlactuatorsaircraft controlautonomous aerial vehiclesadaptive flight controlexternal disturbanceactuator faultbackstepping-based robust adaptive fault tolerant control schemeattitude dynamic modelmedium-scale unmanned autonomous helicopteradaptive control approachbackstepping control techniquerobust adaptive ftc lawcontroller designtracking property |
| spellingShingle | Kun Yan Mou Chen Qingxian Wu Yuhui Wang Adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator fault The Journal of Engineering control system synthesis adaptive control robust control nonlinear control systems control nonlinearities fault tolerant control helicopters uncertain systems attitude control actuators aircraft control autonomous aerial vehicles adaptive flight control external disturbance actuator fault backstepping-based robust adaptive fault tolerant control scheme attitude dynamic model medium-scale unmanned autonomous helicopter adaptive control approach backstepping control technique robust adaptive ftc law controller design tracking property |
| title | Adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator fault |
| title_full | Adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator fault |
| title_fullStr | Adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator fault |
| title_full_unstemmed | Adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator fault |
| title_short | Adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator fault |
| title_sort | adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator fault |
| topic | control system synthesis adaptive control robust control nonlinear control systems control nonlinearities fault tolerant control helicopters uncertain systems attitude control actuators aircraft control autonomous aerial vehicles adaptive flight control external disturbance actuator fault backstepping-based robust adaptive fault tolerant control scheme attitude dynamic model medium-scale unmanned autonomous helicopter adaptive control approach backstepping control technique robust adaptive ftc law controller design tracking property |
| url | https://digital-library.theiet.org/content/journals/10.1049/joe.2019.1080 |
| work_keys_str_mv | AT kunyan adaptiveflightcontrolforunmannedautonomoushelicopterwithexternaldisturbanceandactuatorfault AT mouchen adaptiveflightcontrolforunmannedautonomoushelicopterwithexternaldisturbanceandactuatorfault AT qingxianwu adaptiveflightcontrolforunmannedautonomoushelicopterwithexternaldisturbanceandactuatorfault AT yuhuiwang adaptiveflightcontrolforunmannedautonomoushelicopterwithexternaldisturbanceandactuatorfault |