Fault-tolerant Control Based on Fixed-time Observer for a 3-DOF Helicopter System

被引：11
作者：
Yang, Xuebo [1 ]
Wang, Yujia [1 ]
Yang, Jiae [1 ]
Wang, Tong [1 ]
机构：
[1] Harbin Inst Technol, Sch Astronaut, Res Inst Intelligent Control & Syst, Harbin, Peoples R China
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2020年 / 18卷 / 12期
基金：
中国国家自然科学基金; 中国博士后科学基金; 黑龙江省自然科学基金;
关键词：
3-DOF helicopter; actuator faults; external disturbances; fault-tolerant control; fixed-time observer; SLIDING-MODE CONTROL; BACKSTEPPING CONTROL; TRACKING CONTROL; NONLINEAR-SYSTEMS; RESILIENT CONTROL; QUADROTOR UAV; OPTIMIZATION; DIAGNOSIS; DESIGN;
D O I：
10.1007/s12555-018-0849-4
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a fault-tolerant control (FTC) scheme is presented to counteract actuator faults, model uncertainties and external disturbances for a class of three degrees of freedom (3-DOF) helicopter. A fixed-time observer is introduced to estimate composite disturbances which results in a better tracking performance compared with other sliding mode observers (SMO). Finally, a novel control strategy is proposed via back-stepping design technique to guarantee the stability of closed-loop nonlinear system. Experimental results are given to show the effectiveness and advantages of the proposed method.
引用
收藏
页码：2993 / 3000
页数：8
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