{"title":"执行器故障和外部干扰条件下无人自主直升机的安全跟踪控制","authors":"Mingliang Wang, Ting Wang, Zhijie Wang, Tao Li","doi":"10.1177/01423312241261108","DOIUrl":null,"url":null,"abstract":"This paper considers the problem on tracking control for the medium-scale unmanned autonomous helicopter (UAH) system under external disturbances, actuator faults, and full state constraints. In comparison with existing results, this paper does not only consider asymmetric state constraints but also jointly take the faults and disturbances into account on the UAH system, estimating and compensating for them separately, which can effectively enhance the tracking performance. First, the dynamics of nonlinear UAH system is divided into the position subsystem and the attitude one. Second, an improved barrier Lyapunov function (BLF) is constructed to handle the problem of asymmetric state constraints. Third, in order to estimate the external disturbances and actuator faults, two coupled generalized proportional integral observers (GPIOs) and two fault estimators are designed, respectively. Fourth, based on above estimations, improved BLFs, and backstepping method, two tracking control laws for the position and attitude loops are presented and an overall closed-loop system is established. Then, a sufficient condition ensuring uniform boundedness of tracking and estimation errors is derived. Finally, some simulating results demonstrate the effectiveness and advantage of the proposed control scheme.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.7000,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Safe tracking control for unmanned autonomous helicopter under actuator faults and outside disturbances\",\"authors\":\"Mingliang Wang, Ting Wang, Zhijie Wang, Tao Li\",\"doi\":\"10.1177/01423312241261108\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper considers the problem on tracking control for the medium-scale unmanned autonomous helicopter (UAH) system under external disturbances, actuator faults, and full state constraints. In comparison with existing results, this paper does not only consider asymmetric state constraints but also jointly take the faults and disturbances into account on the UAH system, estimating and compensating for them separately, which can effectively enhance the tracking performance. First, the dynamics of nonlinear UAH system is divided into the position subsystem and the attitude one. Second, an improved barrier Lyapunov function (BLF) is constructed to handle the problem of asymmetric state constraints. Third, in order to estimate the external disturbances and actuator faults, two coupled generalized proportional integral observers (GPIOs) and two fault estimators are designed, respectively. Fourth, based on above estimations, improved BLFs, and backstepping method, two tracking control laws for the position and attitude loops are presented and an overall closed-loop system is established. Then, a sufficient condition ensuring uniform boundedness of tracking and estimation errors is derived. Finally, some simulating results demonstrate the effectiveness and advantage of the proposed control scheme.\",\"PeriodicalId\":49426,\"journal\":{\"name\":\"Transactions of the Institute of Measurement and Control\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.7000,\"publicationDate\":\"2024-07-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Transactions of the Institute of Measurement and Control\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1177/01423312241261108\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Transactions of the Institute of Measurement and Control","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1177/01423312241261108","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Safe tracking control for unmanned autonomous helicopter under actuator faults and outside disturbances
This paper considers the problem on tracking control for the medium-scale unmanned autonomous helicopter (UAH) system under external disturbances, actuator faults, and full state constraints. In comparison with existing results, this paper does not only consider asymmetric state constraints but also jointly take the faults and disturbances into account on the UAH system, estimating and compensating for them separately, which can effectively enhance the tracking performance. First, the dynamics of nonlinear UAH system is divided into the position subsystem and the attitude one. Second, an improved barrier Lyapunov function (BLF) is constructed to handle the problem of asymmetric state constraints. Third, in order to estimate the external disturbances and actuator faults, two coupled generalized proportional integral observers (GPIOs) and two fault estimators are designed, respectively. Fourth, based on above estimations, improved BLFs, and backstepping method, two tracking control laws for the position and attitude loops are presented and an overall closed-loop system is established. Then, a sufficient condition ensuring uniform boundedness of tracking and estimation errors is derived. Finally, some simulating results demonstrate the effectiveness and advantage of the proposed control scheme.
期刊介绍:
Transactions of the Institute of Measurement and Control is a fully peer-reviewed international journal. The journal covers all areas of applications in instrumentation and control. Its scope encompasses cutting-edge research and development, education and industrial applications.