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Hierarchical structure‐based adaptive fault‐tolerant consensus control for multiple 3‐DOF laboratory helicopters
Author(s) -
Liu Chun,
Jiang Bin,
Patton Ron J.,
Zhang Ke
Publication year - 2020
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3120
Subject(s) - hierarchy , control theory (sociology) , actuator , fault tolerance , consensus , nonlinear system , fault (geology) , computer science , scheme (mathematics) , control engineering , engineering , control (management) , multi agent system , distributed computing , mathematics , artificial intelligence , mathematical analysis , physics , quantum mechanics , seismology , economics , market economy , geology
Summary This study investigates the consensus problem of multiple 3‐DOF laboratory helicopters modeled with system nonlinearity, uncertainty, and actuator faults. The simultaneous additives and partial loss of effectiveness actuator faults are considered. The fault detection hierarchy, the healthy control hierarchy, and the fault‐tolerant control hierarchy constitute the hierarchical structure of multihelicopter systems. The fault‐tolerant consensus protocol is switched from the healthy control hierarchy once the actuator fault is detected in the fault detection hierarchy. An adaptive fault‐tolerant consensus control scheme is developed on the basis of the instantaneous and integral estimations to compensate simultaneously for system nonlinearity, uncertainty, and actuator faults and to guarantee the mean‐square consensus in a completely distributed form. Simulation results are presented to validate the effectiveness of the proposed adaptive fault‐tolerant consensus control algorithm.