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

被引：9

作者：

Liu, Zhong ^{[1
,2
,3
]}

Theilliol, Didier ^{[4
]}

Yang, Liying ^{[1
,2
]}

He, Yuqing ^{[1
,2
]}

Han, Jianda ^{[1
,2
,5
,6
]}

机构：

[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China

[2] Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110169, Liaoning, Peoples R China

[3] Univ Chinese Acad Sci, Beijing 100049, Peoples R China

[4] Univ Lorraine, Fac Sci & Tech, CRAN UMR 7039, CNRS, BP 70239, F-54506 Vandoeuvre Les Nancy, France

[5] Nankai Univ, Coll Artificial Intelligence, Inst Robot & Automat Informat Syst, Tianjin, Peoples R China

[6] Nankai Univ, Tianjin Key Lab Intelligent Robot, Tianjin 300350, Peoples R China

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2020年 / 100卷 / 01期

基金：

中国国家自然科学基金;

关键词：

IDA-PBC; Loss of actuator effectiveness; Passive FTC; RUAV; FAULT-TOLERANT CONTROL; MECHANICAL SYSTEMS; IDA-PBC; SUBJECT;

D O I：

10.1007/s10846-020-01170-8

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：29 / 45

页数：17

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