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Resilient Tracking Control for Unmanned Helicopter Under Variable Disturbance and Input Perturbation

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  • Control Theory and Applications
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Abstract

In this work, by utilizing a disturbance observer-based control (DOBC) method, the resilient tracking control is studied for the unmanned aerial helicopter (UAH) with paramteter uncertainty, multiple disturbances, and input perturbation. Firstly, a state observer and two disturbance observers are respectively constructed to estimate the unmeasurable flapping motion states and outside disturbances, which are further utilized to design the feedforward controller. Secondly, by considering stochastic perturbation, a resilient feedback controller is proposed and an overall closed-loop error system is established. Thirdly, based on stochastic control theory and robust control method, a sufficient condition is obtained to guarantee the asymptotical stability and H∞ performance index for the closed-loop error system. Furthermore, the observer gains and controller one can be jointly checked by solving the derived linear matrix inequality (LMI). Finally, some simulations are presented to verify the effectiveness of the derived control method.

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Authors and Affiliations

  1. School of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 211106, China

    Linbo Chen, Tao Li & Zehui Mao

  2. School of Automation, Southeast University, Nanjing, 210096, China

    Shumin Fei

Authors
  1. Linbo Chen
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  2. Tao Li
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  3. Zehui Mao
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  4. Shumin Fei
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Corresponding author

Correspondence to Tao Li.

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This work is supported by National Natural Science Foundations of China (Nos. 62073164, 61873127, 61922042) and the Foundation of Equipment Pre-research Project of Key Laboratory (No. 61422200306); Qing Lan Project; Fundamental Research Funds for the Central Universities under Grant FRF-BD-20-10A; Research Fund of State Key Laboratory of Mechanics and Control of Mechanical Structures (Nanjing University of Aeronautics and astronautics)(Grant No. MCMS-I-0521G05).

Linbo Chen received his B.E. degree from Civil Aviation Flight University of China in 2019 and currently, he is a master graduate student at the School of Automation Engineering of Nanjing University of Aeronautics and Astronautics, China. His research includes anti-disturbance control with its application to flight control system.

Tao Li received his Ph.D. degree in engineering from Southeast University in 2008 and was a postdoctoral research fellow at the School of Instrument Science and Engineering of Southeast University during 2008 and 2011, China. He has been a visiting scholar at Control System Center of The Manchester University from 2016 to 2017, UK. He is currently an associate professor at the School of Automation Engineering, Nanjing University of Aeronautics and Astronautics in China. His current research interests include neural networks, time-delay systems, networked control systems, etc.

Zehui Mao received her Ph.D. degree in control theory and control engineering from the Nanjing University of Aeronautics and Astronautics, Nanjing, China, in 2009. She was a Visiting Scholar with the University of Virginia from 2015 to 2016. She worked in the areas of fault diagnosis, with particular interests in nonlinear control systems, sampled-data systems, and networked control systems. She is currently a Professor with the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. Her current research interests include fault diagnosis and fault-tolerant control of systems with disturbance and incipient faults, and high-speed train and spacecraft flight control applications.

Shumin Fei received his Ph.D. degree from Beijing University of Aeronautics and Astronautics in 1995, China. From 1995 to 1997, he carried out his postdoctoral research at Research Institute of Automation of Southeast University, China. Presently, he is a professor and doctoral supervisor at the School of Automation of Southeast University in China. He has published more than 100 journal papers and his current research interests include nonlinear systems, time-delay system, complex systems, and so on.

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Chen, L., Li, T., Mao, Z. et al. Resilient Tracking Control for Unmanned Helicopter Under Variable Disturbance and Input Perturbation. Int. J. Control Autom. Syst. 20, 147–159 (2022). https://doi.org/10.1007/s12555-020-0590-7

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