Simultaneous Robust Control and Sensor Fault Detection for a Ducted Coaxial-Rotor UAV

doi:10.1109/access.2019.2952386

CIOMP OpenIR

	Simultaneous Robust Control and Sensor Fault Detection for a Ducted Coaxial-Rotor UAV
	C.Xu; H.G.Jia; Z.B.Chen
	2019
发表期刊	Ieee Access
ISSN	2169-3536
卷号	7 页码:167739-167753
摘要	This paper addresses the aerodynamic modeling, observer-based state-feedback robust control and sensor fault detection for a laboratory ducted coaxial-rotor UAV (DCUAV). First, by introducing the main model elements of this novel unmanned vehicle, the detailed nonlinear mathematical model of the hovering flight UAV is presented. Second, through introducing a weighting matrix and a new form of change-of-variables, a new method is proposed by designing two different systems simultaneously as detector and controller. An observer-based controller is proposed to achieve the control objective and finite-frequency sensor fault detection objective simultaneously. The observer-based controller design method is derived from a new formulation of linear matrix inequality (LMI), which can achieve the prescribed H-infinity performance, H- performance and the stability of the closed-loop system. By constructing a new matrix decomposition form, the simultaneous design of detector parameters and controller parameters is solved. Finally, simulations are conducted for the hover flight with disturbances and sensor faults, the results show the satisfactory control performance and fault detection performance.
关键词	Ducted coaxial rotors,UAV,observer-based,robust control,sensor fault,detection,linear matrix inequalities,output-feedback control,design,systems,stability,state,Computer Science,Engineering,Telecommunications
DOI	10.1109/access.2019.2952386
收录类别	SCI ; EI
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/62921
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	C.Xu,H.G.Jia,Z.B.Chen. Simultaneous Robust Control and Sensor Fault Detection for a Ducted Coaxial-Rotor UAV[J]. Ieee Access,2019,7:167739-167753.
APA	C.Xu,H.G.Jia,&Z.B.Chen.(2019).Simultaneous Robust Control and Sensor Fault Detection for a Ducted Coaxial-Rotor UAV.Ieee Access,7,167739-167753.
MLA	C.Xu,et al."Simultaneous Robust Control and Sensor Fault Detection for a Ducted Coaxial-Rotor UAV".Ieee Access 7(2019):167739-167753.

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