Adaptive UKF and Its Application in Fault Tolerant Control of Rotorcraft UAV

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Adaptive UKF and Its Application in Fault Tolerant Control of Rotorcraft UAV
	Qi JT(齐俊桐); Jiang Z(姜哲); Zhao XG(赵新刚)
	2007
会议名称	2007 AIAA Guidance, Navigation, and Control and Exhibit
会议日期	August 20-23, 2007
会议地点	Hilton Head, South Carolina
关键词	Adaptive control system Computer simulation Cost functions Failure analysis Risk analysis Rotors Unmanned aerial vehicles (UAV)
页码	AIAA 2007-6315
中文摘要	Fault tolerant control (FTC) is essential for rotorcraft UAV (RUAV). Due to the inherently unstable dynamics, either flight test or real application of a RUAV is in high risk while a minutial failure may lead to the whole system collapse. In this paper, a novel adaptive unscented Kalman filter (AUKF) is proposed for onboard failure coefficient estimation and a new FTC method is designed against the actuator failure of RUAV. In the AUKF, the error between the covariance matrices of innovation and their corresponding estimations/predictions in normal UKF is utilized as a cost function. Based on the MIT rule, an adaptive algorithm is developed to update the covariance of process noise by minimizing the cost function. The updated covariance is then fed back into the normal UKF. Such an adaptive mechanism intends to release the dependence of UKF on a prior knowledge of the noise environment and improve the convergence speed and estimation accuracy of normal UKF. By introducing the actuator health coefficients (AHCs) into the dynamics equation of a RUAV, the proposed AUKF is utilized to online estimate both the flight states and the AHCs. A fault adaptive control is further designed based on the estimated states and AHCs. Simulations are conducted on the dynamics of a model helicopter developed in Shenyang Institute of Automation. The comparisons between the adaptive- UKF-based FAC and the normal-UKF-based one show the effectiveness and improvements of the proposed method.
收录类别	EI
产权排序	1
会议主办者	AIAA
会议录	AIAA Guidance, Navigation, and Control Conference Proceedings. 2007
会议录出版者	AIAA
语种	英语
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8546]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Qi JT,Jiang Z,Zhao XG. Adaptive UKF and Its Application in Fault Tolerant Control of Rotorcraft UAV[C]. 见:2007 AIAA Guidance, Navigation, and Control and Exhibit. Hilton Head, South Carolina. August 20-23, 2007.