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:	Manuel A. Zuñiga, Luis A. Ramírez, Gerardo Romero, Efraín Alcorta-García, Alejandro Arceo
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	fault-tolerant control robust nonlinear control robotic systems Information technology T58.5-58.64
Acceso en línea:	https://doaj.org/article/bd48dbb725494bfcb94762054867cddb
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id	oai:doaj.org-article:bd48dbb725494bfcb94762054867cddb
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spelling	oai:doaj.org-article:bd48dbb725494bfcb94762054867cddb2021-11-25T17:58:26ZPassive Fault-Tolerant Control of a 2-DOF Robotic Helicopter10.3390/info121104452078-2489https://doaj.org/article/bd48dbb725494bfcb94762054867cddb2021-10-01T00:00:00Zhttps://www.mdpi.com/2078-2489/12/11/445https://doaj.org/toc/2078-2489The 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.Manuel A. ZuñigaLuis A. RamírezGerardo RomeroEfraín Alcorta-GarcíaAlejandro ArceoMDPI AGarticlefault-tolerant controlrobust nonlinear controlrobotic systemsInformation technologyT58.5-58.64ENInformation, Vol 12, Iss 445, p 445 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	fault-tolerant control robust nonlinear control robotic systems Information technology T58.5-58.64
spellingShingle	fault-tolerant control robust nonlinear control robotic systems Information technology T58.5-58.64 Manuel A. Zuñiga Luis A. Ramírez Gerardo Romero Efraín Alcorta-García Alejandro Arceo Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter
description	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.
format	article
author	Manuel A. Zuñiga Luis A. Ramírez Gerardo Romero Efraín Alcorta-García Alejandro Arceo
author_facet	Manuel A. Zuñiga Luis A. Ramírez Gerardo Romero Efraín Alcorta-García Alejandro Arceo
author_sort	Manuel A. Zuñiga
title	Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter
title_short	Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter
title_full	Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter
title_fullStr	Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter
title_full_unstemmed	Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter
title_sort	passive fault-tolerant control of a 2-dof robotic helicopter
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/bd48dbb725494bfcb94762054867cddb
work_keys_str_mv	AT manuelazuniga passivefaulttolerantcontrolofa2dofrobotichelicopter AT luisaramirez passivefaulttolerantcontrolofa2dofrobotichelicopter AT gerardoromero passivefaulttolerantcontrolofa2dofrobotichelicopter AT efrainalcortagarcia passivefaulttolerantcontrolofa2dofrobotichelicopter AT alejandroarceo passivefaulttolerantcontrolofa2dofrobotichelicopter
_version_	1718411825208360960

Passive Fault-Tolerant Control of a 2-DOF Robotic Helicopter

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