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Integrated fault-tolerant control for a 3-DOF helicopter with actuator faults and saturation

Lan, Jianglin; Patton, Ron J.; Zhu, Xiaoyuan


Jianglin Lan

Xiaoyuan Zhu


© The Institution of Engineering and Technology 2017. This study proposes a fault estimation (FE)-based fault-tolerant control (FTC) strategy to maintain system reliability and achieve desirable control performance for a 3-DOF helicopter system with both actuator drift and oscillation faults and saturation. The effects of the faults and saturation are combined into a composite non-differentiable actuator fault function, which is approximated by a differentiable function and estimated together with the system state using a non-linear unknown input observer. An adaptive sliding mode controller based on the estimates is developed to compensate the effects of the faults and saturation. Taking into account the bi-directional robustness interactions between the FE and FTC functions, an integrated design approach is proposed to obtain the observer and controller gains in a single step, so as to achieve robust overall FTC system performance. In fault-free cases, the proposed strategy can be considered as a new approach for anti-windup control to compensate the effect of input saturation. Comparative simulations are provided to verify the effectiveness of the proposed design under different actuator fault scenarios.


Lan, J., Patton, R. J., & Zhu, X. (2017). Integrated fault-tolerant control for a 3-DOF helicopter with actuator faults and saturation. IET Control Theory and Applications, 11(14), 2232-2241.

Journal Article Type Article
Acceptance Date May 10, 2017
Online Publication Date May 11, 2017
Publication Date Sep 22, 2017
Deposit Date Jun 7, 2017
Publicly Available Date Jun 7, 2017
Journal IET control theory and applications
Print ISSN 1751-8644
Electronic ISSN 1751-8652
Publisher Institution of Engineering and Technology (IET)
Peer Reviewed Peer Reviewed
Volume 11
Issue 14
Pages 2232-2241
Keywords Fault-tolerant control; Actuators; Helicopters; Observers
Public URL
Publisher URL
Additional Information This is the author's accepted manuscript of an article published in IET control theory and applications, 2017.


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© The Institution of Engineering and Technology

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