Rotorcraft UAV Actuator Failure Detection based on a New Adaptive set-membership Filter

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	Rotorcraft UAV Actuator Failure Detection based on a New Adaptive set-membership Filter
	Wu C(吴冲); Song DL(宋大雷); Qi JT(齐俊桐); Han JD(韩建达)
	2012
会议名称	The 5th International Conference on Intelligent Robotics and Applications
会议日期	October 3-5, 2012
会议地点	Montreal, Canada
关键词	RUAV Actuator Failure Detection AESMF AHCs
页码	433-442
中文摘要	Actuator failure detection method based on a new Adaptive Extended Set-Membership Filter (AESMF) is proposed for Rotorcraft Unmanned Aerial Vehicle (RUAV). The AEMSF proposed in this paper is based on MIT method to optimize the set boundaries of process noises which may be incorrect in modeling or time-variant in operation; estimation stability and boundaries accuracy can be improved compared to the conventional ESMF. Actuator Healthy Coefficients (AHCs) is introduced into the dynamics of RUAV to denote the actuator failure model. Based on AESMF, online estimation of the AHCs can be obtained along with the flight state. With the estimated AHCs, actuator failure can be detected as soon as possible which provide valuable information for fault tolerant control. Efficiency and improvement of this method compared with other online parameters estimation methods is demonstrated by simulation using ServoHeli-20 model.
收录类别	EI
产权排序	1
会议录	Lecture Notes in Computer Science
会议录出版者	Springer-Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10215]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wu C,Song DL,Qi JT,et al. Rotorcraft UAV Actuator Failure Detection based on a New Adaptive set-membership Filter[C]. 见:The 5th International Conference on Intelligent Robotics and Applications. Montreal, Canada. October 3-5, 2012.