Affiliation:
1. Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China
2. Department of Automation Tsinghua University Beijing China
Abstract
SummaryThis paper investigates the fault‐tolerant control for quadcopter systems with the condition of reducing the bumps of system states. Allowing for the unavailable information of fault detection and identification (FDI) process in reality, a novel fault‐tolerant control scheme integrated with semi‐Markov stochastic process is considered, which stands in marked contrast to previous researches with the assumption of accurate FDI information. The emission probability satisfying piecewise homogeneous property is introduced to express the relationship between the obtained FDI information and real one, which covers more practical scenarios compared with existing ones. Afterwards, sufficient conditions on existence of the bumpless transfer controller reaching prescribed performance are obtained insuring that the quadcopter system is stable in the sense of mean square stability (MSS) and capable of dealing with the unavoidable bumps of states caused by stochastic switching dynamics. Eventually, simulations and comparative studies are performed to illustrate the advantages of the proposed strategy.
Funder
National Natural Science Foundation of China
Natural Science Foundation of Heilongjiang Province
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Aerospace Engineering,Biomedical Engineering,General Chemical Engineering,Control and Systems Engineering
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献