Fault-tolerant Control Based on Fixed-time Observer for a 3-DOF Helicopter System
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS(2020)
摘要
In this paper, a fault-tolerant control (FTC) scheme is presented to counteract actuator faults, model uncertainties and external disturbances for a class of three degrees of freedom (3-DOF) helicopter. A fixed-time observer is introduced to estimate composite disturbances which results in a better tracking performance compared with other sliding mode observers (SMO). Finally, a novel control strategy is proposed via back-stepping design technique to guarantee the stability of closed-loop nonlinear system. Experimental results are given to show the effectiveness and advantages of the proposed method.
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关键词
3-DOF helicopter, actuator faults, external disturbances, fault-tolerant control, fixed-time observer
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