Supervisory Fault Tolerant Control Design for a Class of Unmanned Aerial Vehicles

摘要：

Traditional fault diagnosis and supervisory fault tolerant control method needs a series of models or filters to isolate the current fault. This may cause the instability of the system due to the isolation time delay. This paper proposes a novel supervisory fault tolerant control scheme for a class of uncertain nonlinear systems with faults ranging over a finite cover. The proposed scheme only relies on a simple switching among a family of pre-computed candidate controllers without any additional models or filters to isolate the faults. The states are ensured to be bounded during the switching delay, which ends when the appropriate stabilizing controller has been selected. An unmanned aerial vehicle example is taken and simulation results are provided to show the efficiency of the proposed method.

关键词： unmanned aerial vehicle fault diagnosis supervisory fault tolerant control switching control.

作者: Lingli Lu Bin Jiang Hao Yang

作者单位: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 29 YuDao Street, Nanjing, 210016, china

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 686-690

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）