Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter
The presence of faults in dynamic systems causes the potential loss of some of the control objectives. For that reason, a fault-tolerant controller is required to ensure a proper operation, as well as to reduce the risk of accidents. The present work proposes a passive fault-tolerant controller that...
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| Autores principales: | , , , , |
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| Formato: | article |
| Lenguaje: | EN |
| Publicado: |
MDPI AG
2021
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| Materias: | |
| Acceso en línea: | https://doaj.org/article/bd48dbb725494bfcb94762054867cddb |
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| Sumario: | The presence of faults in dynamic systems causes the potential loss of some of the control objectives. For that reason, a fault-tolerant controller is required to ensure a proper operation, as well as to reduce the risk of accidents. The present work proposes a passive fault-tolerant controller that is based on robust techniques, which are utilized to adjust a proportional-derivative scheme through a linear matrix inequality. In addition, a nonlinear term is included to improve the accuracy of the control task. The proposed methodology is implemented in the control of a two degrees of a freedom robotic helicopter in a simulation environment, where abrupt faults in the actuators are considered. Finally, the proposed scheme is also tested experimentally in the Quanser<sup>®</sup> 2-DOF Helicopter, highlighting the effectiveness of the proposed controller. |
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