摘要
Taking the attitude control system of micro quad-rotor as a research object, a design scheme of fault estimator based on generalized Kalman-Yakubovic-Popov （GKYP） lemma is put forward to deal with the problem of estimating multiple actuators malfunctions with couplings. Using an H_index and an appropriate algorithm, the goal of weakening the coupling can be achieved by limiting the fault frequency to a certain range, then different kinds of actuator faults can be estimated correctly. The simulations demonstrate the reliability and validity of the proposed method.
Taking the attitude control system of micro quad-rotor as a research object, a design scheme of fault estimator based on generalized Kalman-Yakubovic-Popov （GKYP） lemma is put forward to deal with the problem of estimating multiple actuators malfunctions with couplings. Using an H_index and an appropriate algorithm, the goal of weakening the coupling can be achieved by limiting the fault frequency to a certain range, then different kinds of actuator faults can be estimated correctly. The simulations demonstrate the reliability and validity of the proposed method.
基金
supported by the National Natural Science Foundation of China(61203090)
the Natural Science Foundation of Jiangsu Province of China(BK2012384)
作者简介
Corresponding author. Pu Yang was born in 1977. He got his Ph.D. degree of automatic control system in the Southeastern University in 2003. Now he is an associate professor in Nanjing University of Aeronautics and Astronautics. His research interests mainly include servo control and application, fault diagnosis and faulttolerant control, and nonlinear control. E-mail： ppyang@nuaa.edu.cnZhixia Yin was born in 1988. She is a graduate student in Nanjing University of Aeronautics and Astronautics, and majors in fault diagnosis and tolerance. Now she works in Flight Center of COMAC as an assistant flight test engineer of avionics system. E-mail： zhixia0527@126.comBin Jiang was born in 1966. He got his Ph.D. degree of automatic control system in Northeastern University in 1995. He acts as a doctoral supervisor and dean of College of Automation Engineering in Nanjing University of Aeronautics and Astronautics. His research interests include fault diagnosis and faulttolerant control and their applications. E-mail： binjiang@nuaa.edu.cn
