Nonsingular Terminal Sliding Mode Based Passive Fault-Tolerant Control of a 3-DOF Helicopter System ⁎

Yang Qiwei; Yang Rui

doi:10.1016/j.ifacol.2018.09.556

Nonsingular Terminal Sliding Mode Based Passive Fault-Tolerant Control of a 3-DOF Helicopter System ^⁎

Yang Qiwei, Yang Rui

Shandong University of Science and Technology

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

In this paper, a new passive fault-tolerant controller for 3-DOF helicopter is designed. The 3-DOF helicopter is an underactuated system, which has three degrees of freedom, however, only two control inputs. Here two virtual components related to only one control input are introduced, which when combined with other control input decouple the 3-DOF helicopter system into three separate subsystems. For each subsystem, a passive fault-tolerant controller is constructed based on nonsingular terminal sliding mode method, achieving attitude angle tracking. Finally, simulations are conducted to verify the effectiveness of the proposed scheme.

Original language	English
Pages (from-to)	1368-1372
Number of pages	5
Journal	10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018: Warsaw, Poland, 29-31 August 2018
Volume	51
Issue number	24
DOIs	https://doi.org/10.1016/j.ifacol.2018.09.556
Publication status	Published - 2018
Externally published	Yes

Keywords

3-DOF helicopter
actuator failure
passive fault-tolerant control
sliding mode control

Access to Document

10.1016/j.ifacol.2018.09.556

Cite this

@article{8ad8d1a601884b82bc8ce99b04feb5a0,

title = "Nonsingular Terminal Sliding Mode Based Passive Fault-Tolerant Control of a 3-DOF Helicopter System ⁎ ",

abstract = "In this paper, a new passive fault-tolerant controller for 3-DOF helicopter is designed. The 3-DOF helicopter is an underactuated system, which has three degrees of freedom, however, only two control inputs. Here two virtual components related to only one control input are introduced, which when combined with other control input decouple the 3-DOF helicopter system into three separate subsystems. For each subsystem, a passive fault-tolerant controller is constructed based on nonsingular terminal sliding mode method, achieving attitude angle tracking. Finally, simulations are conducted to verify the effectiveness of the proposed scheme.",

keywords = "3-DOF helicopter, actuator failure, passive fault-tolerant control, sliding mode control",

author = "Yang Qiwei and Yang Rui",

note = "Publisher Copyright: {\textcopyright} 2018",

year = "2018",

doi = "10.1016/j.ifacol.2018.09.556",

language = "English",

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journal = "10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018: Warsaw, Poland, 29-31 August 2018",

issn = "2405-8963",

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Qiwei, Y & Rui, Y 2018, 'Nonsingular Terminal Sliding Mode Based Passive Fault-Tolerant Control of a 3-DOF Helicopter System ^⁎ ', 10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018: Warsaw, Poland, 29-31 August 2018, vol. 51, no. 24, pp. 1368-1372. https://doi.org/10.1016/j.ifacol.2018.09.556

Nonsingular Terminal Sliding Mode Based Passive Fault-Tolerant Control of a 3-DOF Helicopter System ^⁎ . / Qiwei, Yang; Rui, Yang.
In: 10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018: Warsaw, Poland, 29-31 August 2018, Vol. 51, No. 24, 2018, p. 1368-1372.

Research output: Contribution to journal › Article › peer-review

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AU - Qiwei, Yang

AU - Rui, Yang

PY - 2018

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N2 - In this paper, a new passive fault-tolerant controller for 3-DOF helicopter is designed. The 3-DOF helicopter is an underactuated system, which has three degrees of freedom, however, only two control inputs. Here two virtual components related to only one control input are introduced, which when combined with other control input decouple the 3-DOF helicopter system into three separate subsystems. For each subsystem, a passive fault-tolerant controller is constructed based on nonsingular terminal sliding mode method, achieving attitude angle tracking. Finally, simulations are conducted to verify the effectiveness of the proposed scheme.

AB - In this paper, a new passive fault-tolerant controller for 3-DOF helicopter is designed. The 3-DOF helicopter is an underactuated system, which has three degrees of freedom, however, only two control inputs. Here two virtual components related to only one control input are introduced, which when combined with other control input decouple the 3-DOF helicopter system into three separate subsystems. For each subsystem, a passive fault-tolerant controller is constructed based on nonsingular terminal sliding mode method, achieving attitude angle tracking. Finally, simulations are conducted to verify the effectiveness of the proposed scheme.

KW - 3-DOF helicopter

KW - actuator failure

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KW - sliding mode control

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