Nonsingular Terminal Sliding Mode Based Passive Fault-Tolerant Control of a 3-DOF Helicopter System

被引：9
|
作者：
Yang Qiwei [1 ]
Yang Rui [1 ]
机构：
[1] Shandong Univ Sci & Technol, Coll Elect Engn & Automat, Qingdao 266590, Peoples R China
来源：
IFAC PAPERSONLINE | 2018年 / 51卷 / 24期
关键词：
passive fault-tolerant control; 3-DOF helicopter; sliding mode control; actuator failure;
D O I：
10.1016/j.ifacol.2018.09.556
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new passive fault-tolerant controller for 3-DOF helicopter is designed. The 3-DOF helicopter is an underactuated system, which has three degrees of freedom, however, only two control inputs. Here two virtual components related to only one control input are introduced, which when combined with other control input decouple the 3-DOF helicopter system into three separate subsystems. For each subsystem, a passive fault-tolerant controller is constructed based on nonsingular terminal sliding mode method, achieving attitude angle tracking. Finally, simulations are conducted to verify the effectiveness of the proposed scheme. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：1368 / 1372
页数：5
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