相关论文: A GOA-Based Fault-Tolerant Trajectory Tracking Con…

Actuator faults heavily affect the performance and stability of control systems, an issue that is even more critical for systems required to operate autonomously under adverse environmental conditions, such as unmanned vehicles. To this…

We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…

This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…

Although model-based fault tolerant control (FTC) has become prevalent in various engineering fields, its application to air-conditioning systems is limited due to the lack of control-oriented models to characterize the phase change of…

This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…

Model-based fault-tolerant control (FTC) often consists of two distinct steps: fault detection & isolation (FDI), and fault accommodation. In this work we investigate posing fault-tolerant control as a single Bayesian inference problem.…

This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…

Dual-system UAVs with vertical take-off and landing capabilities have become increasingly popular in recent years. As a safety-critical system, it is important that a dual-system UAV can maintain safe flight after faults/failures occur.…

Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…

The exploration of under-ice environments presents unique challenges due to limited access for scientific research. This report investigates the potential of deploying a fully actuated Remotely Operated Vehicle (ROV) for shallow area…

This paper addresses Fault Tolerant Control (FTC) of Large Power Systems (LPS) subject to sensor failure. Hiding the fault from the controller allows the nominal controller to remain in the loop. We assume specific faults that violate…

This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original two-input-three-output second-order…

This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain multi-agent systems. A local FTC scheme is designed for each agent using local measurements and suitable information exchanged between…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

We present a new output feedback fault tolerant control strategy for continuous-time linear systems. The strategy combines a digital nominal controller under controller-driven (varying) sampling with virtual-actuator (VA)-based controller…

In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System) Based on H-infinity is presented. In particular, the introductory part of the paper presents a Fault-Tolerant Control (FTC), the first part of this paper presents a…

In this paper, a dynamic-programming approach to the coupled translational and rotational control of thruster-driven spacecraft is studied. To reduce the complexity of the problem, dynamic-programming-based optimal policies are calculated…

Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in three-dimensional space is a challenging but practical problem. To address this problem, this paper develops a novel consensus based optimal…

Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…