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Aggressive maneuver oriented robust actuator fault estimation of a 3-DOF helicopter prototype considering measurement noises

Wang, Tianzhen; Lu, Mengjie; Zhu, Xiaoyuan; Patton, Ron


Tianzhen Wang

Mengjie Lu

Xiaoyuan Zhu


This paper presents a robust actuator fault estimation strategy design for a 3-DOF helicopter prototype which can be adapted to aggressive maneuvers. First, considering large pitch angle condition during flight, nonlinear coupling characteristic of the helicopter system is exploited. As the pitch angle can be measured in real time, a polytopic linear parameter-varying (LPV) model is developed for the helicopter system. Furthermore, considering measurement noises in the actual helicopter system, the dynamical model of helicopter system is modified accordingly. Then, based on the modified polytopic LPV model, a robust unknown input observer (UIO) is developed for the helicopter system to realize actuator fault estimation, in which both measurement noises and large pitch angle are considered. Robust performance of proposed fault estimation approach is guaranteed by using energy-to-energy strategy. And the observer gains are calculated by using linear matrix inequalities. Finally, based on a 3-DOF helicopter prototype, both simulations and experiments are conducted. The effects of measurement noises and large pitch angle on the fault estimation performance are sufficiently demonstrated. And effectiveness as well as advantages of the proposed observer is verified by using comparative analysis.


Wang, T., Lu, M., Zhu, X., & Patton, R. (2022). Aggressive maneuver oriented robust actuator fault estimation of a 3-DOF helicopter prototype considering measurement noises. IEEE/ASME Transactions on Mechatronics, 27(3), 1672-1682.

Journal Article Type Article
Acceptance Date Nov 1, 2020
Online Publication Date Jun 8, 2021
Publication Date 2022-06
Deposit Date Feb 22, 2023
Publicly Available Date Mar 21, 2023
Journal IEEE/ASME Transactions on Mechatronics
Print ISSN 1083-4435
Electronic ISSN 1941-014X
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 27
Issue 3
Pages 1672-1682
Keywords Helicopters , Estimation , Observers , Actuators , Noise measurement , Prototypes , Couplings
Public URL


Accepted manuscript (11.5 Mb)

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