Adaptive sensor fault tolerant control with prescribed performance for unmanned autonomous helicopter based on neural networks
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 29 March 2024
Issue publication date: 16 April 2024
Abstract
Purpose
This paper aims to study a neural network-based fault-tolerant controller to improve the tracking control performance of an unmanned autonomous helicopter with system uncertainty, external disturbances and sensor faults, using the prescribed performance method.
Design/methodology/approach
To ensure that the tracking error satisfies the prescribed performance, the authors adopt an error transformation function method. A control scheme based on the neural network and high-order disturbance observer is designed to guarantee the boundedness of the closed-loop system. A simulation is performed to prove the validity of the control scheme.
Findings
The developed adaptive fault-tolerant control method makes the system with sensor fault realize tracking control. The error transformation function method can effectively handle the prescribed performance requirements. Sensor fault can be regarded as a type of system uncertainty. The uncertainty can be approximated accurately using neural networks. A high-order disturbance observer can effectively suppress compound disturbances.
Originality/value
The tracking performance requirements of unmanned autonomous helicopter system are considered in the design of sensor fault-tolerant control. The inequality constraint that the output tracking error must satisfy is transformed into an unconstrained problem by introducing an error transformation function. The fault state of the velocity sensor is considered as the system uncertainty, and a neural network is used to approach the total uncertainty. Neural network estimation errors and external disturbances are treated as compound disturbances, and a high-order disturbance observer is constructed to compensate for them.
Keywords
Acknowledgements
This work was supported in part by the Hong Kong, Macao and Taiwan Science and Technology Cooperation Project of Special Foundation in Jiangsu Science and Technology Plan under Grant BZ2023057.
Citation
Wan, M., Chen, M. and Lungu, M. (2024), "Adaptive sensor fault tolerant control with prescribed performance for unmanned autonomous helicopter based on neural networks", Aircraft Engineering and Aerospace Technology, Vol. 96 No. 3, pp. 417-429. https://doi.org/10.1108/AEAT-03-2023-0080
Publisher
:Emerald Publishing Limited
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