Robust adaptive compensation control for unmanned autonomous helicopter with input saturation and actuator faults

作     者：Kun YAN Mou CHEN Qingxian WU Ronggang ZHU 

作者机构：College of Automation EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China Luoyang Institute of Electro-Optical Equipment of AVICLuoyang 471000China 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2019年第32卷第10期

页      面：2299-2310页

核心收录：

学科分类：07[理学] 0701[理学-数学] 070101[理学-基础数学] 

基　　金：supported in part by the National Natural Science Foundation of China(Nos.61825302,61573184) in part by the Jiangsu Natural Science Foundation of China(No.BK20171417) in part by the Aeronautical Science Foundation of China(No.20165752049) 

主　　题：Compensation control Fault tolerant control Input saturation Tracking control Unmanned autonomous helicopter 

摘      要：This paper studies a robust adaptive compensation Fault Tolerant Control(FTC)for the medium-scale Unmanned Autonomous Helicopter(UAH)in the presence of external disturbances,actuator faults and input *** improve the disturbance rejection capacity of the UAH system in actuator healthy case,an adaptive control method is adopted to cope with the external disturbances and a nominal controller is proposed to stabilize the ***,compensation control inputs are designed to reduce the negative effects derived from actuator faults and input *** on the backstepping control and inner-outer loop control technologies,a robust adaptive FTC scheme is developed to guarantee the tracking errors *** the presented FTC controller,the uniform ultimate boundedness of all closed-loop signals is ensured via Lyapunov stability *** results demonstrate the effectiveness of the proposed control algorithm.