LASS, Laboratoire d'Analyse des Signaux et Systèmes, Department of Electrical Engineering, Faculty of Technology, Mohamed Boudiaf University of Msila, BP 166 Ichbilia, Msila, Algeria.
LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, Mohamed Boudiaf University of Msila, BP 166 Ichbilia, Msila, Algeria.
ISA Trans. 2018 Sep;80:267-278. doi: 10.1016/j.isatra.2018.06.003. Epub 2018 Jun 7.
In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial octorotor helicopter control is proposed in presence of actuator faults. Radial Base Function Neural Network (RBFNN), Fuzzy Logic Control approach (FLC) and Sliding Mode Control (SMC) technique are used to design a controller, named Fault Tolerant Control (FTC), for each subsystem of the octorotor helicopter. The proposed FTC scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the proposed FTC can greatly alleviate the chattering effect, good tracking in presence of actuator faults.
本文提出了一种在执行器故障存在的情况下，用于六自由度（6 DOF）共轴八旋翼直升机控制的鲁棒控制器。径向基函数神经网络（RBFNN）、模糊逻辑控制方法（FLC）和滑模控制（SMC）技术用于设计八旋翼直升机每个子系统的控制器，命名为容错控制（FTC）。所提出的 FTC 方案允许避免困难的建模，衰减 SMC 的抖动效应，减少模糊控制器的规则数量，并保证系统的稳定性和鲁棒性。仿真结果表明，所提出的 FTC 可以大大减轻抖动效应，在执行器故障存在的情况下具有良好的跟踪性能。
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