Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness
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Interconnection and Damping Assignment Passivity-Based Control Design Under Loss of Actuator Effectiveness Zhong Liu1,2,3 · Didier Theilliol4
· Liying Yang1,2 · Yuqing He1,2 · Jianda Han1,2,5,6
Received: 24 April 2019 / Accepted: 3 February 2020 © Springer Nature B.V. 2020
Abstract Due to the convenience in applications, interconnection and damping assignment passivity-based control (IDA-PBC) is applied widely to reformulate the nonlinear robust control as the total energy shaping. However, only few researches focus on the fault-tolerant control (FTC) method based on IDA-PBC, which limits its applications under actuator faults. To break this limitation, this paper improves the IDA-PBC with fault-tolerant ability, and the main contributions are to propose highgain and adaptive IDA-PBC methods under loss of actuator effectiveness. The simulation and experiment results with a rotorcraft unmanned aerial vehicle (RUAV) are presented to illustrate the control effectiveness of the improved IDA-PBC methods. Keywords IDA-PBC · Loss of actuator effectiveness · Passive FTC · RUAV
1 Introduction Passivity-based control (PBC) is a powerful technique to design nonlinear and robust controllers for physical systems modelled by Euler-Lagrange (EL) equations [1]. Classical PBC stabilizes physical systems by “shaping” only potential energy, and assigns a dissipative closed-loop energy function equal to the difference between the original energy of controlled plant and the energy from designed controller [2]. To shape the total energy of controlled plant, [2] and [3] propose interconnection and damping assignment passivitybased control (IDA-PBC), which constructs the closed-loop energy function by desired subsystem interconnections and damping [3]. Superior to classical PBC, IDA-PBC relies on a more general system description — port-controlled Hamiltonian (PCH) model rather than the EL equation. Due to the convenience for nonlinear controller design and inherent robustness against unmodeled dynamics, IDA-PBC has been applied widely for the control of manipulator [4], rotorcraft unmanned aerial vehicle (RUAV) [5], RUAV slung load system [6], and electrical system [7].
Didier Theilliol
[email protected]
Extended author information available on the last page of the article.
To ensure stability or acceptable control performance of controlled plant under sensor faults or actuator faults, nonlinear passive and active fault-tolerant control (FTC) methods have been researched for a long time [8] based on sliding mode control [9–11], backstepping control [12– 15], and linear parameter-varying (LPV) control [16–18]. Reference [19] further carries out the comparative study between passive and active approaches to provide an objective assessment for them. However, according to the authors’ knowledge, only a few of researches focus on the fault-tolerance based on classical passivity or IDA-PBC. For example, [20] applies passivity theory to ensure the stability of nonlinear systems under loss of actuator effectiveness, and
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