Self-healing Control Against Actuator Stuck Failures Under Constraints: Application to Unmanned Helicopters

  • Xin Qi
  • Didier Theilliol
  • Juntong Qi
  • Youmin Zhang
  • Jianda Han
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 386)


This paper investigates the problem of actuator stuck failures under constraints. In order to guarantee the post-failure system stability and acceptable performance, self-healing control framework is proposed which includes self-healing management module, fault-tolerant controller, reference redesigner and anti-windup compensator. Because of the existence of actuator constraints, the post-failure system may be unstable and the reference may be unreachable. Hence, fault-tolerant controller with anti-windup compensator was used to guarantee stability which was proved by introducing \(H_{\infty }\) performance. Reachability of reference was analyzed by self-healing management module and a new reference could be calculated by reference redesigner. At last, the proposed self-healing framework was applied to a linear unmanned helicopter model for velocities and yaw tracking control.


Fault-tolerant systems Actuators Stuck Saturation Autonomous vehicles 



This work was supported by National Key Technology Research and Development Program of China under Grant: 2013BAK03B02; The Chinese Academy of Sciences Visiting Professorship for Senior International Scientists under Grant 2012T1G0007.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Xin Qi
    • 1
  • Didier Theilliol
    • 2
  • Juntong Qi
    • 1
  • Youmin Zhang
    • 3
  • Jianda Han
    • 1
  1. 1.Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina
  2. 2.University of Lorraine, CRAN-CNRS, UMR 7039Vandoeuvre CedexFrance
  3. 3.Concordia UniversityMontrealCanada

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