文章基本信息

标题：Nonsingular Terminal Sliding Mode Based Passive Fault-Tolerant Control of a 3-DOF Helicopter System ⁎
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作者：Yang Qiwei ; Yang Rui
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：24
页码：1368-1372
DOI：10.1016/j.ifacol.2018.09.556
语种：English
出版社：Elsevier
摘要：AbstractIn 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.
关键词：Keywordspassive fault-tolerant control3-DOF helicoptersliding mode controlactuator failure