Sensor Fault-Tolerant Control for Unmanned Helicopter Based on Nonlinear Observer

Fan Xu; Chao Wangv; Xin Huo; Enjiao Zhao

doi:10.1109/CCDC55256.2022.10034295

Sensor Fault-Tolerant Control for Unmanned Helicopter Based on Nonlinear Observer

Fan Xu
, Chao Wangv
, Xin Huo^*
, Enjiao Zhao

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
Harbin Engineering University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a fault-tolerant control scheme for sensor bias fault of the unmanned helicopter (UH) is proposed. The attitude control design for the UH is divided into two loops based on active disturbance rejection control (ADRC). The attitude angles controller and attitude rates controller are designed for the outer loop and inner loop, respectively. The bias of the fault sensor is estimated by using the nonlinear adaptive observer. The fault-tolerant scheme is designed by compensating the estimated bias in the basic attitude controllers. Finally, the simulation results show that the fault-tolerant scheme is effective for the attitude angles control of the UH with sensor bias fault.

Original language	English
Title of host publication	Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3042-3047
Number of pages	6
ISBN (Electronic)	9781665478960
DOIs	https://doi.org/10.1109/CCDC55256.2022.10034295
State	Published - 2022
Event	34th Chinese Control and Decision Conference, CCDC 2022 - Hefei, China Duration: 15 Aug 2022 → 17 Aug 2022

Publication series

Name	Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022

Conference

Conference	34th Chinese Control and Decision Conference, CCDC 2022
Country/Territory	China
City	Hefei
Period	15/08/22 → 17/08/22

Keywords

Active Disturbance Rejection Control (ADRC)
Fault-Tolerant Control
Observer
Sensor Fault
Unmanned Helicopter (UH)

Access to Document

10.1109/CCDC55256.2022.10034295

Cite this

Xu, F., Wangv, C., Huo, X., & Zhao, E. (2022). Sensor Fault-Tolerant Control for Unmanned Helicopter Based on Nonlinear Observer. In Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022 (pp. 3042-3047). (Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC55256.2022.10034295

@inproceedings{3dea6cb3d1af4ac3b839ff2ca223d45f,

title = "Sensor Fault-Tolerant Control for Unmanned Helicopter Based on Nonlinear Observer",

abstract = "In this paper, a fault-tolerant control scheme for sensor bias fault of the unmanned helicopter (UH) is proposed. The attitude control design for the UH is divided into two loops based on active disturbance rejection control (ADRC). The attitude angles controller and attitude rates controller are designed for the outer loop and inner loop, respectively. The bias of the fault sensor is estimated by using the nonlinear adaptive observer. The fault-tolerant scheme is designed by compensating the estimated bias in the basic attitude controllers. Finally, the simulation results show that the fault-tolerant scheme is effective for the attitude angles control of the UH with sensor bias fault.",

keywords = "Active Disturbance Rejection Control (ADRC), Fault-Tolerant Control, Observer, Sensor Fault, Unmanned Helicopter (UH)",

author = "Fan Xu and Chao Wangv and Xin Huo and Enjiao Zhao",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 34th Chinese Control and Decision Conference, CCDC 2022 ; Conference date: 15-08-2022 Through 17-08-2022",

year = "2022",

doi = "10.1109/CCDC55256.2022.10034295",

language = "英语",

series = "Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3042--3047",

booktitle = "Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022",

address = "美国",

}

Xu, F, Wangv, C, Huo, X & Zhao, E 2022, Sensor Fault-Tolerant Control for Unmanned Helicopter Based on Nonlinear Observer. in Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022. Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022, Institute of Electrical and Electronics Engineers Inc., pp. 3042-3047, 34th Chinese Control and Decision Conference, CCDC 2022, Hefei, China, 15/08/22. https://doi.org/10.1109/CCDC55256.2022.10034295

Sensor Fault-Tolerant Control for Unmanned Helicopter Based on Nonlinear Observer. / Xu, Fan; Wangv, Chao; Huo, Xin et al.
Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 3042-3047 (Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Sensor Fault-Tolerant Control for Unmanned Helicopter Based on Nonlinear Observer

AU - Xu, Fan

AU - Wangv, Chao

AU - Huo, Xin

AU - Zhao, Enjiao

PY - 2022

Y1 - 2022

N2 - In this paper, a fault-tolerant control scheme for sensor bias fault of the unmanned helicopter (UH) is proposed. The attitude control design for the UH is divided into two loops based on active disturbance rejection control (ADRC). The attitude angles controller and attitude rates controller are designed for the outer loop and inner loop, respectively. The bias of the fault sensor is estimated by using the nonlinear adaptive observer. The fault-tolerant scheme is designed by compensating the estimated bias in the basic attitude controllers. Finally, the simulation results show that the fault-tolerant scheme is effective for the attitude angles control of the UH with sensor bias fault.

AB - In this paper, a fault-tolerant control scheme for sensor bias fault of the unmanned helicopter (UH) is proposed. The attitude control design for the UH is divided into two loops based on active disturbance rejection control (ADRC). The attitude angles controller and attitude rates controller are designed for the outer loop and inner loop, respectively. The bias of the fault sensor is estimated by using the nonlinear adaptive observer. The fault-tolerant scheme is designed by compensating the estimated bias in the basic attitude controllers. Finally, the simulation results show that the fault-tolerant scheme is effective for the attitude angles control of the UH with sensor bias fault.

KW - Active Disturbance Rejection Control (ADRC)

KW - Fault-Tolerant Control

KW - Observer

KW - Sensor Fault

KW - Unmanned Helicopter (UH)

UR - https://www.scopus.com/pages/publications/85149584679

U2 - 10.1109/CCDC55256.2022.10034295

DO - 10.1109/CCDC55256.2022.10034295

M3 - 会议稿件

AN - SCOPUS:85149584679

T3 - Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022

SP - 3042

EP - 3047

BT - Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 34th Chinese Control and Decision Conference, CCDC 2022

Y2 - 15 August 2022 through 17 August 2022

ER -

Xu F, Wangv C, Huo X, Zhao E. Sensor Fault-Tolerant Control for Unmanned Helicopter Based on Nonlinear Observer. In Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 3042-3047. (Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022). doi: 10.1109/CCDC55256.2022.10034295

Sensor Fault-Tolerant Control for Unmanned Helicopter Based on Nonlinear Observer

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