2018
Yang, Huiliao; Jiang, Bin; Yang, Hao; Liu, Hugh H T
Synchronization of multiple 3-DOF helicopters under actuator faults and saturations with prescribed performance Journal Article
In: ISA Transactions, 75 , pp. 118–126, 2018, ISSN: 00190578.
Abstract | Links | BibTeX | Tags: Actuator fault, Actuator saturation, Fault tolerant control, Multi-agent system, robust adaptive control, Synchronization
@article{ISA2018HLY,
title = {Synchronization of multiple 3-DOF helicopters under actuator faults and saturations with prescribed performance},
author = {Huiliao Yang and Bin Jiang and Hao Yang and Hugh H T Liu},
url = {https://doi.org/10.1016/j.isatra.2018.02.009},
doi = {10.1016/j.isatra.2018.02.009},
issn = {00190578},
year = {2018},
date = {2018-01-01},
journal = {ISA Transactions},
volume = {75},
pages = {118--126},
publisher = {Elsevier Ltd},
abstract = {The distributed cooperative control strategy is proposed to make the networked nonlinear 3-DOF helicopters achieve the attitude synchronization in the presence of actuator faults and saturations. Based on robust adaptive control, the proposed control method can both compensate the uncertain partial loss of control effectiveness and deal with the system uncertainties. To address actuator saturation problem, the control scheme is designed to ensure that the saturation constraint on the actuation will not be violated during the operation in spite of the actuator faults. It is shown that with the proposed control strategy, both the tracking errors of the leading helicopter and the attitude synchronization errors of each following helicopter are bounded in the existence of faulty actuators and actuator saturations. Moreover, the state responses of the entire group would not exceed the predesigned performance functions which are totally independent from the underlaying interaction topology. Simulation results illustrate the effectiveness of the proposed control scheme.},
keywords = {Actuator fault, Actuator saturation, Fault tolerant control, Multi-agent system, robust adaptive control, Synchronization},
pubstate = {published},
tppubtype = {article}
}
The distributed cooperative control strategy is proposed to make the networked nonlinear 3-DOF helicopters achieve the attitude synchronization in the presence of actuator faults and saturations. Based on robust adaptive control, the proposed control method can both compensate the uncertain partial loss of control effectiveness and deal with the system uncertainties. To address actuator saturation problem, the control scheme is designed to ensure that the saturation constraint on the actuation will not be violated during the operation in spite of the actuator faults. It is shown that with the proposed control strategy, both the tracking errors of the leading helicopter and the attitude synchronization errors of each following helicopter are bounded in the existence of faulty actuators and actuator saturations. Moreover, the state responses of the entire group would not exceed the predesigned performance functions which are totally independent from the underlaying interaction topology. Simulation results illustrate the effectiveness of the proposed control scheme.