A Decentralized Fault-Tolerant Control System for Accommodation of Failures in Higher-Order Flight Control Actuators
A Decentralized Fault-Tolerant Control System for Accommodation of Failures in Higher-Order Flight Control Actuators
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DOI：
10.1109/tcst.2009.2033805
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发表时间：
2010-09
影响因子：
4.8
通讯作者：
J. Boskovic;R. Mehra
中科院分区：
文献类型：
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作者：
J. Boskovic;R. Mehra
针对一类由执行器驱动的非线性系统，提出了一种有效的故障检测与辨识（FDI）和容错控制（FTC）集成方法.假设作动器的动态是快速的，基线控制器的设计，并使用奇异摄动参数，实现控制目标。典型的故障在飞行控制执行器被认为是下一个，和在线FDI算法推导出的二阶致动器动态与不可测量的致动器速率，和三阶致动器动态时，只有输出的致动器是可测量的。FDI子系统是分散的，在每个执行器上运行一个观测器，并且仅使用本地信息来调整参数估计。如何使用这些信息来重新配置控制律，并确保所产生的闭环控制系统的稳定性的主要问题得到解决。其次，设计了一种自适应容错控制器，该控制器利用FDI子系统在每个时刻的参数估计。它表明，在系统中的所有信号是有界的，跟踪误差渐近收敛到零，尽管多个同时致动器故障，即使在二阶或三阶致动器动态的情况下。建议FDI-FTC算法的性能进行评估，通过驾驶模拟的F/A-18飞机。
In this paper, an effective integrated failure detection and identification (FDI) and fault-tolerant control (FTC) technique is developed for a class of nonlinear systems actuated by actuators that may undergo several different types of failures. Assuming that the actuator dynamics are fast, a baseline controller is designed and, using the singular perturbation arguments, shown to achieve the control objective. Typical failures in flight control actuators are considered next, and online FDI algorithms are derived for second-order actuator dynamics with non-measurable actuator rates, and third-order actuator dynamics when only output of the actuator is measurable. The FDI subsystem is decentralized in that an observer is run at each of the actuators, and the parameter estimates are adjusted using only the local information. The major issue of how to use this information to reconfigure the control law and assure the stability of the resulting closed-loop control system is addressed. An adaptive fault-tolerant controller that uses the parameter estimates from the FDI subsystem at every instant is designed next. It is demonstrated that all the signals in the system are bounded and that the tracking error converges to zero asymptotically despite multiple simultaneous actuator failures even in the case of second or third order actuator dynamics. The properties of the proposed FDI-FTC algorithms are evaluated through piloted simulations of the F/A-18 aircraft.