Abstract
Actuator faults are inevitable but affect reliability and safety of unmanned helicopters (UHs), especially when there are actuator constraints. In this paper, self-healing control, which is an extended active fault-tolerant control (FTC) method with reference redesign on-line, is proposed to analyze and to guarantee the safety of single-rotor UHs (SUHs) under both actuator faults and constraints. The safety includes body safety and mission safety. More specifically, body safety represents the stability of SUH itself and mission safety represents mission accomplishment with acceptable performance, furthermore, set-point tracking mission is considered. The main contribution of this paper is to analyze and to guarantee the safety of SUHs by solving a set of Linear Matrix Inequalities (LMIs) at one time. The set of LMIs includes saturation compensator design and stability guaranty with a given controller in the absence of actuator constraints, actuator fault compensation analysis, reference reachability analysis and reference redesign. On the other hand, by adding swashplate configuration, SUH model with real actuator outputs as control inputs is constructed which can describe actuator faults more clearly compared to SUH models with nominal control inputs. Finally, the proposed self-healing control method is illustrated by simulation with a nonlinear SUH model.
Similar content being viewed by others
References
Cai, G., Chen, B.M., Lee, T.H.: Unmanned Rotorcraft System. Springer, London (2011)
Dardinier-Maron, V., Hamelin, F., Noura, H.: A fault-tolerant control design against major actuator failures: application to a three-tank system. In: Proceedings of the 38th IEEE Conference on Decision and Control. Arizona, vol. 4, pp 3569–3574 (1999)
Drozeski, G.R., Saha, B., Vachtsevanos, G.J.: A fault detection and reconfigurable control architecture for unmanned aerial vehicles. In: IEEE Aerospace Conference. Big Sky, MT, pp 1–9 (2005)
Enns, R., Si, J.: Helicopter flight-control reconfiguration for main rotor actuator failures. J. Guid. Control. Dyn. 26(4), 572–584 (2003)
Garcia, R.D., Valavanis, K.P., Kandel, A.: Autonomous helicopter navigation during a tail rotor failure utilizing fuzzy logic. In: IEEE Mediterranean Conference on Control and Automation, Athens, Greece, pp 1–6 (2007)
He, Y., Han, J.: Acceleration-feedback-enhanced robust control of an unmanned helicopter. J. Guid. Control. Dyn. 33(4), 1236–1250 (2010)
Hu, T., Lin, Z., Qiu, L.: An explicit description of null controllable regions of linear systems with saturating actuators. Syst. Control Lett. 47(1), 65–78 (2002)
Kapoor, D., Deb, D., Sahai, A.: Adaptive failure compensation for coaxial rotor helicopter under propeller failure. In: American Control Conference, Montreal, Canada, pp 2539–2544 (2012)
Khalil, H.K., Grizzle, J.W.: Nonlinear Systems, vol. 3. Prentice Hall, Upper Saddle River (2002)
Noura, H., Theilliol, D., Ponsart, J.C., Chamseddine, A.: Fault-tolerant Control Systems: Design and Practical Applications. Advances in Industrial Control. Springer, Dordrecht, Heidelberg, New York (2009)
Qi, J., Han, J., Zhao, X.: Adaptive UKF and its application in fault tolerant control of rotorcraft UAV. In: AIAA Guidance, Navigation and Control Conference and Exhibit. South Carolina (2007)
Qi, J., Song, D., Wu, C., Han, J., Wang, T.: KF-Based adaptive UKF algorithm and its application for rotorcraft UAV actuator failure estimation. Int. J. Adv. Robot. Syst. 9 (2012)
Qi, X., Qi, J., Theilliol, D., Zhang, Y., Han, J., Song, D., H.ua, C.: A review on fault diagnosis and fault tolerant control methods for single-rotor aerial vehicles. J. Intell. Robot. Syst. 73(1–4), 535–555 (2014)
Shim, H.: Hierarchical flight control system synthesis for rotorcraft-based unmanned aerial vehicles. Phd, University of California, Berkeley (2000)
da Silva Jr, J.M.G., Tarbouriech, S.: Antiwindup design with guaranteed regions of stability: an LMI-based approach. IEEE Trans. Autom. Control 50(1), 106–111 (2005)
da Silva, J.M.G. Jr, Tarbouriech, S.: Anti-windup design with guaranteed regions of stability for discrete-time linear systems. Syst. Control Lett. 55(3), 184–192 (2006)
Tanner, O.: Modelling, identification, and control of autonomous helicopters. Phd, Swiss Federal Institute of Technology Zurich (2003)
Theilliol, D., Join, D., Zhang, Y.: Actuator fault tolerant control design based on a reconfigurable reference input. Int. J. Appl. Math. Comput. Sci. 18(4), 553–560 (2008)
Weber, P., Boussaid, B., Khelassi, A., Theilliol, D., Aubrun, C.: Reconfigurable control design with integration of a reference governor and reliability indicatiors. Int. J. Appl. Math. Comput. Sci. 22(1), 139–148 (2012)
Zhang, Y., Jiang, J.: Fault tolerant control system design with explicit consideration of performance degradation. IEEE Trans. Aerosp. Electron. Syst. 39(3), 838–848 (2003)
Zhang, Y., Jiang, J.: Bibliographical review on reconfigurable fault-tolerant control systems. Annu. Rev. Control. 32(2), 229–252 (2008)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Qi, X., Qi, J., Theilliol, D. et al. Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters. J Intell Robot Syst 84, 21–35 (2016). https://doi.org/10.1007/s10846-016-0341-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-016-0341-4