Active Fault-Tolerant Control Scheme for Unmanned Air-Ground Attitude System with Time-Varying Delay Faults
Abstract
:Featured Application
Abstract
1. Introduction
- Considering the time-varying fault of actuator, system parameter uncertainty and system state delay, the attitude stability control problem of air-ground platform in complex environment is effectively solved;
- The integral sliding control method is used to effectively reduce the chattering problem in the fault-tolerant control of the air-ground platform actuator;
- Selecting the appropriate nonlinear function as the ideal control input to optimize the transient performance of the system shows that the overshoot is not very large and the convergence speed is accelerated.
2. System Description and Preliminaries
3. Design of Fault Detection and Estimation Observer
3.1. Robust Fault Detection
3.2. Design of Fault Estimation Observer
4. Fault Tolerant Control
5. Simulation and Analysis
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
Appendix A
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Rotor | Rotor 1 | Rotor 2 | Rotor 3 | Rotor 4 | |
---|---|---|---|---|---|
Fault Type | |||||
LOE | 0.5 | 0.2 | Normal | Normal | |
Bias Fault | None | None |
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Zhao, X.; Li, X.; Zhang, J.; Zhang, Z. Active Fault-Tolerant Control Scheme for Unmanned Air-Ground Attitude System with Time-Varying Delay Faults. Appl. Sci. 2022, 12, 5882. https://doi.org/10.3390/app12125882
Zhao X, Li X, Zhang J, Zhang Z. Active Fault-Tolerant Control Scheme for Unmanned Air-Ground Attitude System with Time-Varying Delay Faults. Applied Sciences. 2022; 12(12):5882. https://doi.org/10.3390/app12125882
Chicago/Turabian StyleZhao, Xianfa, Xingwei Li, Jiazhe Zhang, and Zheng Zhang. 2022. "Active Fault-Tolerant Control Scheme for Unmanned Air-Ground Attitude System with Time-Varying Delay Faults" Applied Sciences 12, no. 12: 5882. https://doi.org/10.3390/app12125882