Purpose

This paper aims to study a neural network-based fault-tolerant controller to improve the tracking control performance of an unmanned autonomous helicopter with system uncertainty, external disturbances and sensor faults, using the prescribed performance method.

Design/methodology/approach

To ensure that the tracking error satisfies the prescribed performance, the authors adopt an error transformation function method. A control scheme based on the neural network and high-order disturbance observer is designed to guarantee the boundedness of the closed-loop system. A simulation is performed to prove the validity of the control scheme.

Findings

The developed adaptive fault-tolerant control method makes the system with sensor fault realize tracking control. The error transformation function method can effectively handle the prescribed performance requirements. Sensor fault can be regarded as a type of system uncertainty. The uncertainty can be approximated accurately using neural networks. A high-order disturbance observer can effectively suppress compound disturbances.

Originality/value

The tracking performance requirements of unmanned autonomous helicopter system are considered in the design of sensor fault-tolerant control. The inequality constraint that the output tracking error must satisfy is transformed into an unconstrained problem by introducing an error transformation function. The fault state of the velocity sensor is considered as the system uncertainty, and a neural network is used to approach the total uncertainty. Neural network estimation errors and external disturbances are treated as compound disturbances, and a high-order disturbance observer is constructed to compensate for them.

中文翻译：

---

基于神经网络的无人自主直升机具有规定性能的自适应传感器容错控制

目的

本文旨在研究一种基于神经网络的容错控制器，以使用规定的性能方法来改善存在系统不确定性、外部干扰和传感器故障的无人自主直升机的跟踪控制性能。

设计/方法论/途径

为了确保跟踪误差满足规定的性能，作者采用了误差变换函数方法。设计了基于神经网络和高阶扰动观测器的控制方案，保证闭环系统的有界性。通过仿真验证了控制方案的有效性。

发现

所开发的自适应容错控制方法使得传感器故障的系统能够实现跟踪控制。误差变换函数方法可以有效地处理规定的性能要求。传感器故障可以被视为一种系统不确定性。可以使用神经网络准确地近似不确定性。高阶扰动观测器可以有效抑制复合扰动。

原创性/价值

传感器容错控制设计考虑了无人自主直升机系统的跟踪性能要求。通过引入误差变换函数，将输出跟踪误差必须满足的不等式约束转化为无约束问题。将速度传感器的故障状态视为系统的不确定性，采用神经网络逼近总的不确定性。将神经网络估计误差和外部干扰视为复合干扰，并构造高阶干扰观测器对其进行补偿。