Adaptive UKF and Its Application in Fault Tolerant Control of Rotorcraft Unmanned Aerial Vehicle

Abstract

Abstract: A new fault tolerant control methodology against the actuator failure is proposed. The novel filter method with adaptability to statistical characteristic of noise is proposed to improve the estimation accuracy of Unscented Kalman filter (UKF). The actuator health coefficients (AHCs) is introduced to denote the actuator failure model while the adaptive UKF is employed for on-line estimation of both the flight states and the AHCs parameters of rotorcraft UAV (RUAV). Simulations are conducted by using the model of SIA ServoHeli-20 RUAV of Shenyang Institute of Automation, CAS, and the results are compared with those obtained by normal UKF to demonstrate the effectiveness and improvements.

Key words: Adaptive UKF, Fault diagnosis, Fault tolerant control, Rotorcraft unmanned aerial vehicle

CLC Number:

TP320

QI Juntong;HAN Jianda. Adaptive UKF and Its Application in Fault Tolerant Control of Rotorcraft Unmanned Aerial Vehicle[J]. , 2009, 45(4): 115-124.

[1]	DI Zijun, YUAN Dongfeng, LI Dongyang, LIANG Daojun, ZHOU Xiaotian, XIN Miaomiao, CAO Feng, LEI Tengfei. Tool Fault Diagnosis Method Based on Multiscale-efficient Channel Attention Network [J]. Journal of Mechanical Engineering, 2024, 60(6): 82-90.
[2]	YAN Ruqiang, XU Wengang, WANG Zhiying, ZHU Qixiang, ZHOU Zheng, ZHAO Zhibin, SUN Chuang, WANG Shibin, CHEN Xuefeng, ZHANG Junhui, XU Bing. Research Status and Challenges on Fault Diagnosis Methodology for Fuel Control System of Aero-engine [J]. Journal of Mechanical Engineering, 2024, 60(4): 3-31.
[3]	ZHANG Junhui, LIU Shihao, XU Bing, HUANG Weidi, LÜ Fei, HUANG Xiaochen. Research Status and Development Trends on Intelligent Key Technology of the Axial Piston Pump [J]. Journal of Mechanical Engineering, 2024, 60(4): 32-49.
[4]	DING Ruqi, XIONG Wenjie, CHENG Min, XU Bing. Safety Performance Evaluation of the Intelligent Independent-metering Electro-hydraulic Control System [J]. Journal of Mechanical Engineering, 2024, 60(4): 101-112.
[5]	WANG Zhiying, LI Tianfu, XU Wengang, SUN Chuang, ZHANG Junhui, XU Bing, YAN Ruqiang. Denoising Mixed Attention Variational Auto-encoder for Axial Piston Pump Fault Diagnosis [J]. Journal of Mechanical Engineering, 2024, 60(4): 167-177.
[6]	SHAO Haidong, LIN Jian, MIN Zhishan, MING Yuhang. Improved Semi-supervised Prototype Network for Cross-domain Fault Diagnosis of Gearbox under Out-of-distribution Interference Samples [J]. Journal of Mechanical Engineering, 2024, 60(4): 212-221.
[7]	PAN Haiyang, XU Haifeng, ZHENG Jinde, TONG Jinyu, ZHANG Feibin. Mechanical Fault Diagnosis Method Based on Twin Weighted Imbalanced Matrix Classifier [J]. Journal of Mechanical Engineering, 2024, 60(3): 170-180.
[8]	ZHAO Ke, YE Min, WANG Ruixin, LU Hai, LIU Mengmeng, SHAO Haidong. Fuzzy Domain Adaptation Approach for Source-free Domain Rotary Machinery Fault Diagnosis [J]. Journal of Mechanical Engineering, 2024, 60(18): 43-52.
[9]	LI Zhipeng, MA Tianyu, LIU Jinping, XIANG Qingsong, TANG Junjie. Multi-source Domain Adaptation Intelligent Fault Diagnosis Method Based on Asymmetric Adversarial Training [J]. Journal of Mechanical Engineering, 2024, 60(18): 76-88.
[10]	WANG Yukun, YI Cai, WANG Hao, ZHOU Qiuyang, RAN Le, WANG Jingyuan. Adaptive Frequency Band Division Method Guided by PSD and Its Application in Bearing Fault Diagnosis [J]. Journal of Mechanical Engineering, 2024, 60(17): 179-193.
[11]	LIU Yilong, LI Xinyuan, CHEN Yinping, CHENG Wei, CHEN Xuefeng. A Motor Bearing Cage Fault Diagnosis Method Based on Local Maximum of Kurtosis Surface [J]. Journal of Mechanical Engineering, 2024, 60(15): 89-99.
[12]	YU Xiaoluo, YANG Yang, DU Minggang, HE Qingbo, PENG Zhike. Cooperative Detection and Decomposition Approach of Deviation-included Frequency Components for Mechanical Transmission Systems [J]. Journal of Mechanical Engineering, 2024, 60(15): 100-112.
[13]	HUANG Baoyu, ZHANG Yongxiang. Rolling Element Bearing Fault Diagnosis Using a Three-step Scheme [J]. Journal of Mechanical Engineering, 2024, 60(14): 51-68.
[14]	CHEN Qian, CHEN Kangkang, DONG Xingjian, HUANGFU Yifan, PENG Zhike, MENG Guang. Interpretable Convolutional Neural Network for Mechanical Equipment Fault Diagnosis [J]. Journal of Mechanical Engineering, 2024, 60(12): 65-76.
[15]	WANG Shibin, WANG Shiao, CHEN Xuefeng, HUANG Hai, AN Botao, ZHAO Zhibin, LIU Yongquan, LI Yinghong. Interpretable Network Construction for Intelligent Monitoring and Diagnosis,and Application in Inter-shaft Bearing Diagnosis While Aero-engine Test [J]. Journal of Mechanical Engineering, 2024, 60(12): 90-106.

Adaptive UKF and Its Application in Fault Tolerant Control of Rotorcraft Unmanned Aerial Vehicle

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments