UKF-based rotorcraft UAV Fault adaptive control for actuator failure

Author

Juntong Qi ; Zhe Jiang ; Xingang Zhao

Author_Institution

Grad. Sch., Chinese Acad. of Sci., Shenyang

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1545

Lastpage

1550

Abstract

A new fault adaptive control methodology against the actuator failure is proposed in this paper. The actuator failure modeling are introduced to denote the actuator healthy level (AHL) and the Unscented Kalman Filter (UKF) is employed for on-line estimation of both the flight states and the AHL parameters of rotorcraft UAV (RUAV). The functionality of the approach has been illustrated through experiments on the Shenyang Institute of Automation RUAV platform SIA-Heli-90 and the results show that the proposed method is an effective tool for actuator fault adaptive control of RUAVs.

Keywords

Kalman filters; actuators; adaptive control; aircraft control; fault tolerance; helicopters; remotely operated vehicles; actuator failure modeling; actuator healthy level; rotorcraft UAV fault adaptive control; unscented Kalman filter; Actuators; Adaptive control; Biomimetics; Fault detection; Nonlinear systems; Robotics and automation; Sampling methods; State estimation; Statistics; Unmanned aerial vehicles; fault tolerance control; feedback linearization; rotorcraft UAV; unscented Kalman filter;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522394

Filename

4522394