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

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

Abstract

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.

Citation

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. https://doi.org/10.1109/TMECH.2021.3087193

• 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
• DOI: https://doi.org/10.1109/TMECH.2021.3087193
• Keywords: Helicopters , Estimation , Observers , Actuators , Noise measurement , Prototypes , Couplings
• Public URL: https://hull-repository.worktribe.com/output/3816533