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Autonomous Safety Control of Flight Vehicles
The Development of Safety Control Systems
Introduction
Philosophical Distinctions between Active and Passive FTCSs
Architecture and Philosophy of an Active FTCS
Architecture and Philosophy of a Passive FTCS
Summary of FTCS
Advantages of an Active FTCS
Limitations of an Active FTCS
Advantages of a Passive FTCS
Limitations of a Passive FTCS
Basic Concept and Classification of Anti-Disturbance Control Systems
Safety-Critical Issues of Aerospace Vehicles
Safety Bounds
Limited Recovery Time
Finite-Time Stabilization/Tracking
Transient Management
Composite Faults and Disturbances
Book Outline
Hybrid Fault-Tolerant Control System Design against Actuator Failures
Introduction
Modeling of Actuator Faults through Control Effectiveness
Function of Actuators in an Aircraft
Analysis of Faults in Hydraulic Driven Control Surfaces
Modeling of Faults in Multiple Actuators
Objectives and Formulation of Hybrid FTCS
Design of the Hybrid FTCS
Passive FTCS Design Procedure
Reconfigurable Controller Design Procedure
Switching Function among Different Controllers
Numerical Case Studies
Description of the Aircraft
Performance Evaluation under the Passive FTCS
Performance Evaluation under Reconfigurable Controller
Nonlinear Simulation of the Hybrid FTCS
Conclusions
Notes
Safety Control System Design against Control Surface Impairments
Introduction
Aircraft Model with Redundant Control Surfaces
Nonlinear Aircraft Model
Actuator Dynamics
Linearized Aircraft Model with Consideration of Faults
Redundancy Analysis and Problem Formulation
Redundancy Analysis
Problem Statement
FTCS Design
FTC Design via State Feedback
FTC via Static Output Feedback
Illustrative Examples
Example 1 (State Feedback Case)
Example 2 (Static Output Feedback Case)
Sensitivity Analysis
Conclusions
Notes
Multiple Observers Based Anti-Disturbance Control for a Quadrotor UAV
Introduction
Quadrotor Dynamics with Multiple Disturbances
Quadrotor Dynamic Model
The Analysis of Disturbances
Design of Multiple Observers Based Anti-Disturbance Control
Control for Translational Dynamics
DO Design
ESO Design
Control for Rotational Dynamics
Stability Analysis
Position Loop
Attitude Loop
Flight Experimental Results
Flying Arena and System Configuration
Quadcopter Flight Scenarios
Test 1
Test 2
Test 3
Test 4
Assessment
Conclusions
Notes
Safety Control System Design of HGV Based on Adaptive TSMC
Introduction
Preliminaries
Mathematical Model of a HGV
Nonlinear HGV Model
Actuator Fault Model
Problem Statement
Control-Oriented Model
Safety Control System Design of a HGV against Faults and Uncertainties
Multivariable TSMC
Safety Control System Based on Adaptive Multivariable TSMC Technique
Simulation Results
HGV Flight Condition and Simulation Scenarios
Simulation Analysis of Scenario I
Simulation Analysis of Scenario II
Concluding Remarks
Notes
Safety Control System Design of HGV Based on Fixed-Time Observer
Introduction
HGV Modeling and Problem Statement
HGV Dynamics
Control-Oriented Model Subject to Actuator Faults and Uncertainties
Problem Statement
Fixed-Time Observer
An Overview of the Developed Observer and Accommodation Architecture
Fixed-Time Observer
Finite-Time Accommodation Design
Numerical Simulations
HGV Flight Conditions
Simulation Scenarios
Simulation Results
Conclusions
Notes
Fault Accommodation with Consideration of Control Authority and Gyro Availability
Introduction
Aircraft Model and Problem Statement
Longitudinal Aircraft Model Description
Analysis of Flight Actuator Constraints
Failure Modes and Modeling of Flight Actuators
Failure Modes and Modeling of Flight Sensor Gyros
Problem Statement
Fault Accommodation with Actuator Constraints
An Overview of the Fault Accommodation Scheme
Fault Accommodation within Actuator Control Authority
Fault Accommodation with Actuator Constraints and Sensorless Angular Rate
An Overview of the SMO-Based Fault Accommodation Scheme with Sensorless Angular Velocity
A SMO for Estimating Angular Rate
Integrated Design of SMO and Fault Accommodation
Simulation Studies
Simulation Environment Description
Simulation Scenarios
Results of Case I and Assessment
Results of Case II and Assessment
Conclusions
Notes
A. Appendix for Chapter 2
B. Appendix for Chapter 3: Part 1
C. Appendix for Chapter 3: Part 2
D. Appendix for Chapter 3: Part 3
E. Appendix for Chapter 4
E.1. Experimental Parameters
E.1.1. Physical Parameters
E.1.2. Gains
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