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Chinese Journal of Aeronautics 2024年第4期37卷 421-435页

作者： Shihao XU Changzhu WEI Litao ZHANG Rongjun MU School of Astronautics Harbin Institute of TechnologyHarbin 150001China Beijing Institute of control&Electronics Technology Beijing 100038China

This paper develops a novel Neural Network(NN)-based adaptive nonsingular practical predefined-time controller for the hypersonic morphing aircraft subject to actuator faults. Firstly, a novel Lyapunov criterion of practical predefined-time stability is established. Following the proposed criterion, a tangent function based nonsingular predefined-time sliding manifold and the control strategy are developed. Secondly, the radial basis function NN with a low-complexity adaptation mechanism is incorporated into the controller to tackle the actuator faults and uncertainties. Thirdly, rigorous theoretical proof reveals that the attitude tracking errors can converge to a small region around the origin within a predefined time, while all signals in the closed-loop system remain bounded. Finally, numerical simulation results are presented to verify the effectiveness and improved performance of the proposed control scheme.

关键词： Hypersonic morphing aircraft(HMA) Neural network(NN) Adaptive control Practical predefined-time control fault-tolerant control

Adaptive fault-tolerant control for non-minimum phase hypersonic vehicles based on adaptive dynamic programming

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Chinese Journal of Aeronautics 2024年第3期37卷 290-311页

作者： Le WANG Ruiyun QI Bin JIANG State Key Laboratory of Mechanics and control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing 210016China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China

In this paper,a novel adaptive fault-tolerant control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter *** strategy is based on the output redefinition method and Adaptive Dynamic Programming(ADP).The intelligent FTC scheme consists of two main parts:a basic fault-tolerant and stable controller and an ADP-based supplementary *** the basic FTC part,an output redefinition approach is designed to make zero-dynamics stable with respect to the new ***,Ideal Internal Dynamic(IID)is obtained using an optimal bounded inversion approach,and a tracking controller is designed for the new output to realize output tracking of the nonminimum phase HSV *** the ADP-based compensation control part,an ActionDependent Heuristic Dynamic Programming(ADHDP)adopting an actor-critic learning structure is utilized to further optimize the tracking performance of the HSV control ***,simulation results are provided to verify the effectiveness and efficiency of the proposed FTC algorithm.

关键词： Hypersonic vehicle fault-tolerant control Non-minimum phase system Adaptive control Nonlinear control Adaptive dynamic programming

Adaptive Sensor-fault tolerant control of Unmanned Underwater Vehicles With Input Saturation

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 907-918页

作者： Xuerao Wang Qingling Wang Yanxu Su Yuncheng Ouyang Changyin Sun the School of Artificial Intelligence the Engineering Research Center of Autonomous Unmanned System Technologyand the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent TechnologyMinistry of EducationAnhui UniversityHefei 230601China the School of Automation Southeast UniversityNanjing 210096China

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean *** active sensor fault-tolerant control scheme is ***,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor ***,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback *** is shown that the effect of sensor faults is online estimated and compensated by an adaptive *** the proposed controller,the tracking error and estimation error can asymptotically converge to ***,simulation results are performed to demonstrate the effectiveness of the proposed method.

关键词： Asymptotic stability fault-tolerant control input saturation robust integral of the sign of error unmanned underwater vehicle

fault-tolerant flocking control against multiple malicious agents under geometric configuration containment

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Science China(Information Sciences) 2024年第10期67卷 261-282页

作者： Chencheng ZHANG Hao YANG Bin JIANG College of Automation Engineering Nanjing University of Aeronautics and Astronautics Institute of Engineering and Technology (ENTEG) University of Groningen

Flocking control in the presence of malicious decisions is a crucial research topic since agents in swarms are likely to suffer from security issues in practice. This paper considers a swarm containing malicious agents that deliberately alter their controller parameters and disrupt the swarm by causing collisions,divisions, and escapes. Two possible malicious scenarios are considered. The first is that one malicious agent acts selectively on a subset of its neighbors and the second is that multiple malicious agents are either scattered or clustered together. To achieve the flocking control objective:(1) containment conditions based on specific geometric configurations are established;(2) hierarchical fault-tolerant flocking control methods based on those containment conditions are proposed. Compared to existing research dealing with malicious agents in swarms, our approach aims to contain rather than remove them. This guarantees the completeness of the task and takes agents' motions into consideration. Simulations show the effectiveness of the proposed methods.

关键词： flocking control fault-tolerant control multiple malicious agents geometric configuration

fault-tolerant control with mixed aerodynamic surfaces and RCS jets for hypersonic reentry vehicles

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Chinese Journal of Aeronautics 2017年第2期30卷 780-795页

作者： He Jingjing Qi Ruiyun Jiang Bin Zhai Rongyu College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 211106 China

This paper proposes a fault-tolerant strategy for hypersonic reentry vehicles with mixed aerodynamic surfaces and reaction control systems（RCS） under external disturbances and subject to actuator *** surfaces are treated as the primary actuator in normal situations,and they are driven by a continuous quadratic programming（QP） allocator to generate torque commanded by a nonlinear adaptive feedback control *** aerodynamic surfaces encounter faults,they may not be able to provide sufficient torque as commanded,and RCS jets are activated to augment the aerodynamic surfaces to compensate for insufficient *** loss of effectiveness and stuck faults are considered in this paper,and observers are designed to detect and identify the *** on the fault identification results,an RCS control allocator using integer linear programming（ILP） techniques is designed to determine the optimal combination of activated RCS *** treating the RCS control allocator as a quantization element,closed-loop stability with both continuous and quantized inputs is *** results verify the effectiveness of the proposed method.

关键词： control allocation fault-tolerant control Hypersonic vehicles Quantized control Reaction control system(RCS)

fault-tolerant control of Nonlinear Systems Based on Fuzzy Neural Networks

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Journal of Donghua University(English Edition) 2009年第6期26卷 634-638页

作者：左东升姜建国 Department of Electrical Engineering Shanghai Jiaotong University

Due to its great potentisl value in theory and application, fault-tolerant control atrategies of nonlinear systems, especially combining with intelligent control methods, have been a focus in the academe. A fault-tolerant control method based on fuzzy neural networks was presented for nonlinear systems in this paper. The fault parameters were designed to detect the fault, adaptive updating method was introduced to estimate and track fault, and fuzzy neural networks were used to adjust the fault parameters and construct automated fault diagnosis. And the fault compeusation control force, which was given by fault estimation, was used to realize adaptive fault-tolerant control. This framework leaded to a simple structure, an accurate detection, and a high robusmess. The simulation results in induction motor show that it is still able to work well with high dynamic performance and control precision under the condition of motor parameters＇ variation fault and load torque disturbance.

关键词： fuzzy neural networks nonlinear sYStem fault-tolerant control adaptive

fault-tolerant control of a Multi-Actuator Agricultural Aircraft against Actuator Failures

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Fault-Tolerant Control of a Multi-Actuator Agricultural Airc...

fault-tolerant control of a 2-DOF robot manipulator using multi-sensor switching strategy

第36届中国控制会议

作者： Jian Chen Shubo Wang Peng Li Yu Tan Yongjun Zheng Zhang Ren College of Engineering China Agricultural University Key laboratory of Soil-Machine-Plant System Technology Ministry of Agriculture University of Houston Beihang University

ISBN: (纸本)9781538629185

Because of the high failure rate of the agricultural fixed-wing aircraft due to the terrible working environment,this paper mainly discusses applying robust fault-tolerant control algorithm and Reaction control System（RCS） actuator to the flight control system when the multi-actuator aircraft is with actuator ***,the self-repairing flight control system structure based on dynamic-inversion emergency control law is *** to the flight task of plant protection,the flight control system is divided into two loops based on time-scale separation *** control law design uses the dynamic inversion control method,and the compensation control law is based on dynamic compensation of the adaptive Neural Network（NN）.When the elevator or rudder fault occurs in the system,three adaptive NN compensation controllers are activated to counteract the fault’s influence in the angular velocity ***,for two typical faults,the simulations of robust fault-tolerant controller based on the neural network are demonstrated *** stability and effectiveness of proposed algorithms are verified.

关键词： Agricultural fixed-wing aircraft actuator failure reaction control system fault-tolerant control self-repairing flight control system

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Fault-tolerant control of a 2-DOF robot manipulator using mu...

fault mode probability factor based fault-tolerant control for dissimilar redundant actuation system

第36届中国控制会议

作者： Yilin Mi Feng Xu Junbo Tan Xueqian Wang Bin Liang Shenzhen Engineering Laboratory of Geometry Measurement Technology Graduate School at ShenzhenTsinghua University

ISBN: (纸本)9781538629185

In this paper,a fault-tolerant multi-sensor switching strategy is used for sensor-fault tolerance of robot manipulator with redundant sensors in each joint to provide the angular position of the *** strategy employs a linear-parameter-varying（LPV） model to describe the nonlinear dynamics of the robot ***,based on the obtained LPV model,a zonotopic set-based robust fault detection（FD） mechanism is further designed to monitor the system *** each time instant,the FD mechanism checks whether there are some sensors that have become faulty to make FD decisions.A switching controller is designed to choose the best estimation among the healthy sensors to generate closed-loop control *** a sensor has become faulty and is detected by the FD mechanism,the fault-tolerant strategy discards the faulty sensor and uses the healthy one to implement closed-loop *** the end,some simulation results are presented to illustrate the effectiveness of the proposed fault-tolerant control（FTC） strategy.

关键词： robot manipulator fault-tolerant control multi-sensor switching scheme bounded sets zonotopes

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Chinese Journal of Aeronautics 2018年第5期31卷 965-975页

作者： Jun WANG Shaoping WANG Xingjian WANG Mileta M.TOMOVIC Cun SHI School of Automation Science and Electrical Engineering Beihang University College of Engineering and Technology Old Dominion University

This paper presents a fault Mode Probability Factor（FMPF） based fault-tolerant control（FTC） strategy for multiple faults of Dissimilar Redundant Actuation System（DRAS）composed of Hydraulic Actuator（HA） and Electro-Hydrostatic Actuator（EHA）. The long-term service and severe working conditions can result in multiple gradual faults which can ultimately degrade the system performance, resulting in the system model drift into the fault state characterized with parameter uncertainty. The paper proposes to address this problem by using the historical statistics of the multiple gradual faults and the proposed FMPF to amend the system model with parameter uncertainty. To balance the system model precision and computation time, a Moving Window（MW） method is used to determine the applied historical statistics. The FMPF based FTC strategy is developed for the amended system model where the system estimation and Linear Quadratic Regulator（LQR） are updated at the end of system sampling period. The simulations of DRAS system subjected to multiple faults have been performed and the results indicate the effectiveness of the proposed approach.

关键词： Dissimilar redundant actuation system fault mode probability factor fault-tolerant control Linear quadratic regulator Monte Carlo simulation Moving window

Integrated fault estimation and fault-tolerant control for a flexible regional aircraft

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Chinese Journal of Aeronautics 2022年第3期35卷 390-399页

作者： Yishi LIU Sheng HONG Enrico ZIO Jianwei LIU School of Cyber Science and Technology Beihang UniversityBeijing 100191China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Department of Energy Politecnico di MilanoMilano 20133Italy MINES ParisTech PSL Research UniversityCRCSophia Antipolis 06904France Eminent Scholar Department of Nuclear EngineeringCollege of EngineeringKyung Hee UniversitySeoul 02447South Korea

The article focuses on the design and application of an active reconfigurable controller that mitigates the effects of gust load and actuator faults on a flexible aircraft.A novel integrated adaptive output feedback scheme is investigated to address the actuator *** real-time fault values provided by the fault estimation module are considered in the reconfigurable control law to improve the fault-tolerant *** estimate values of faults and control gains are calculated by analyzing the stability of the overall *** proposed controller is simulated using a flexible aircraft model with a discrete‘1-cosine’gust,and the results show that it can effectively mitigate the wing root moments and recover the flight maneuver stability after the aircraft suffered from gusts.

关键词： Adaptive control fault estimation fault-tolerant control Flexible aircraft Gust load Integrated strategy