Abstract
This paper investigates the problem of actuator stuck failures under constraints. In order to guarantee the post-failure system stability and acceptable performance, self-healing control framework is proposed which includes self-healing management module, fault-tolerant controller, reference redesigner and anti-windup compensator. Because of the existence of actuator constraints, the post-failure system may be unstable and the reference may be unreachable. Hence, fault-tolerant controller with anti-windup compensator was used to guarantee stability which was proved by introducing \(H_{\infty }\) performance. Reachability of reference was analyzed by self-healing management module and a new reference could be calculated by reference redesigner. At last, the proposed self-healing framework was applied to a linear unmanned helicopter model for velocities and yaw tracking control.
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Acknowledgments
This work was supported by National Key Technology Research and Development Program of China under Grant: 2013BAK03B02; The Chinese Academy of Sciences Visiting Professorship for Senior International Scientists under Grant 2012T1G0007.
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Qi, X., Theilliol, D., Qi, J., Zhang, Y., Han, J. (2016). Self-healing Control Against Actuator Stuck Failures Under Constraints: Application to Unmanned Helicopters. In: Kowalczuk, Z. (eds) Advanced and Intelligent Computations in Diagnosis and Control. Advances in Intelligent Systems and Computing, vol 386. Springer, Cham. https://doi.org/10.1007/978-3-319-23180-8_14
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DOI: https://doi.org/10.1007/978-3-319-23180-8_14
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