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Fault-tolerant Control Based on Fixed-time Observer for a 3-DOF Helicopter System

  • Control Theory and Applications
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Abstract

In this paper, a fault-tolerant control (FTC) scheme is presented to counteract actuator faults, model uncertainties and external disturbances for a class of three degrees of freedom (3-DOF) helicopter. A fixed-time observer is introduced to estimate composite disturbances which results in a better tracking performance compared with other sliding mode observers (SMO). Finally, a novel control strategy is proposed via back-stepping design technique to guarantee the stability of closed-loop nonlinear system. Experimental results are given to show the effectiveness and advantages of the proposed method.

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Author information

Authors and Affiliations

  1. School of Astronautics, Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China

    Xuebo Yang, Yujia Wang, Jiae Yang & Tong Wang

Authors
  1. Xuebo Yang
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  2. Yujia Wang
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  3. Jiae Yang
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  4. Tong Wang
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Corresponding author

Correspondence to Yujia Wang.

Additional information

Recommended by Associate Editor Dongjun Lee under the direction of Editor Chan Gook Park.

This work was supported in part by the 111 Project (B16014), the National Natural Science Foundation of China (Grant No. 61803122, 61873311, 61773143 and 61627901) the Natural Science Foundation of Heilongjiang Province of China (Grant No. F2017009), the National Postdoctoral Program for Innovative Talents (BX201700067), the China Postdoctoral Science Foundation Grant (2018M630359), the Heilongjiang Province Science Foundation for Youths (QC2018077), and the Fundamental Research Funds for the Central Universities (HIT.NSRIF.2019035).

The authors would like to express their sincere gratitude to the Editor-in-Chief, the Associate Editor, and the anonymous reviewers whose insightful comments have helped to improve the quality of this paper considerably.

Xuebo Yang received his B.S. degree in automation from Northeast Forestry University, Harbin, China, in 2004, an M.S. degree in control science and engineering from Harbin Engineering University, Harbin, in 2007, and a Ph.D. degree in control science and engineering from the Harbin Institute of Technology, Harbin, in 2011. He is currently a Professor with the Research Institute of Intelligent Control Systems, Harbin Institute of Technology. His current research interests include robust and adaptive control theory and applications, spacecraft orbital, and attitude control.

Yujiang Wang received her M.S. degree in control theory and control engineering from Harbin Institute of Technology (HIT), Harbin, China, in 2017, where she is currently pursuing a Ph.D. degree. Her current research interests include adaptive dynamic programming, neural networks and fault tolerant control.

Jiae Yang received his M.S. degree in control theory and control engineering from Harbin Institute of Technology (HIT), Harbin, China, in 2017, where he is currently pursuing a Ph.D. degree. His current research interests include neural networks, fault tolerant control, 3D-printing, and computer vision.

Tong Wang received his M.E. degree in control theory and control engineering from Liaoning University of Technology, Jinzhou, China, in 2013, and a Ph.D. degree in control science and engineering from the Harbin Institute of Technology, Harbin, China, in 2017. He is currently an Associate Professor with the Harbin Institute of Technology. He was a Visiting Scholar with the Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA. His research interests include fuzzy control, stochastic adaptive control, and networked control.

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Yang, X., Wang, Y., Yang, J. et al. Fault-tolerant Control Based on Fixed-time Observer for a 3-DOF Helicopter System. Int. J. Control Autom. Syst. 18, 2993–3000 (2020). https://doi.org/10.1007/s12555-018-0849-4

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  • DOI: https://doi.org/10.1007/s12555-018-0849-4

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