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Active fault-tolerant control scheme of aerial manipulators with actuator faults

执行器故障下飞行机械臂的主动容错控制

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Abstract

In this paper, an active fault-tolerant control (FTC) strategy of aerial manipulators based on non-singular terminal sliding mode (NTSM) and extended state observer (ESO) is proposed. Firstly, back-stepping technology is adopted as the control framework to ensure the global asymptotic stability of the closed-loop system. Next, the NTSM with estimated parameters of actuator faults is used as main robustness controller to deal with actuator faults. Then, the ESO is utilized to estimate and compensate the complex coupling effects and external disturbances. The Lyapunov stability theory can guarantee the asymptotic stability of aerial manipulators system with actuator faults and external disturbances. The proposed FTC scheme considers both actuator fault and modelling errors, combined with the adaptive law of actuator fault, which has better performance than traditional FTC scheme, such as NTSM. Finally, several comparative simulations are conducted to illustrate the effectiveness of the proposed FTC scheme.

摘要

本文提出了一种基于非奇异终端滑模和扩展状态观测器的飞行机械臂主动容错控制方法。首先, 采用反演技术作为闭环控制框架, 保证系统的全局稳定性。其次, 采用自适应非奇异终端滑模作为执 行器故障下的鲁棒控制器。然后, 利用扩展状态观测器对复杂的耦合效应和外部干扰进行估计和补偿。 李雅普诺夫稳定性理论可以保证具有执行器故障和外部干扰的飞行机械臂系统的渐近稳定性。本文提 出的主动容错控制方案综合考虑了执行器故障和建模误差, 并结合执行器故障的自适应律, 其性能优 于传统的容错控制方法。最后, 通过多个仿真对比, 验证了所提出的主动容错控制方案的有效性。

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Authors and Affiliations

  1. National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Ya-dong Ding  (丁亚东), Yao-yao Wang  (王尧尧), Su-rong Jiang  (蒋素荣) & Bai Chen  (陈柏)

  2. The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

    Yao-yao Wang  (王尧尧)

Authors
  1. Ya-dong Ding  (丁亚东)
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  2. Yao-yao Wang  (王尧尧)
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  3. Su-rong Jiang  (蒋素荣)
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  4. Bai Chen  (陈柏)
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Corresponding authors

Correspondence to Yao-yao Wang  (王尧尧) or Su-rong Jiang  (蒋素荣).

Additional information

Foundation item

Project(51705243) supported by National Natural Science Foundation of China; Project(NS2020052) supported by the Fundamental Research Funds for the Central Universities, China; Project(GZKF-201915) supported by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems, China

Contributors

DING Ya-dong and WANG Yao-yao provided the concept of the topics. DING Ya-dong conducted the literature review and wrote the first draft of the manuscript. JIANG Su-rong and CHEN Bai edited the draft of manuscript. All authors replied to reviewers’ comments and revised the final version.

Conflict of interest

DING Ya-dong, WANG Yao-yao, JIANG Su-rong and CHEN Bai declare that they have no conflict of interest.

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Ding, Yd., Wang, Yy., Jiang, Sr. et al. Active fault-tolerant control scheme of aerial manipulators with actuator faults. J. Cent. South Univ. 28, 771–783 (2021). https://doi.org/10.1007/s11771-021-4644-7

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  • DOI: https://doi.org/10.1007/s11771-021-4644-7

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