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

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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.

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Acknowledgements

This work was supported by National Key Research and Development Program of China (No. 2017YFD0701002) and National Natural Science Foundation of China (Nos. 91748130 and U1608253).

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Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang, Liaoning Province, People’s Republic of China

    Zhong Liu, Liying Yang, Yuqing He & Jianda Han

  2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, Liaoning Province, People’s Republic of China

    Zhong Liu, Liying Yang, Yuqing He & Jianda Han

  3. University of Chinese Academy of Sciences, 100049, Beijing, People’s Republic of China

    Zhong Liu

  4. CRAN UMR 7039, CNRS, University of Lorraine, Faculte des Sciences et Techniques, B.P. 70239, 54506, Vandœuvre-Lés-Nancy, France

    Didier Theilliol

  5. Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University, Tianjin, People’s Republic of China

    Jianda Han

  6. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, 300350, Tianjin, People’s Republic of China

    Jianda Han

Authors
  1. Zhong Liu
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  2. Didier Theilliol
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  3. Liying Yang
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  4. Yuqing He
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  5. Jianda Han
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Correspondence to Didier Theilliol.

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Liu, Z., Theilliol, D., Yang, L. et al. Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness. J Intell Robot Syst 100, 29–45 (2020). https://doi.org/10.1007/s10846-020-01170-8

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  • DOI: https://doi.org/10.1007/s10846-020-01170-8

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