Adaptive sensor fault tolerant control with prescribed performance for unmanned autonomous helicopter based on neural networks

• Published in: Aircraft engineering Vol. 96; no. 3; pp. 417 - 429
• Main Authors: Wan, Min, Chen, Mou, Lungu, Mihai
• Format: Journal Article
• Language: English
• Published: Bradford Emerald Publishing Limited 16.04.2024; Emerald Group Publishing Limited
• Subjects: Adaptive control; Altitude; Closed loops; Control algorithms; Control methods; Disturbance observers; Fault tolerance; Feedback control; Helicopter control; Helicopters; Neural networks; Sensors; Tracking control; Tracking errors; Uncertainty; Unmanned aerial vehicles; Unmanned helicopters; Velocity; Disturbance observer; Sensor fault; Neural network; Prescribed performance; Unmanned autonomous helicopter; Fault tolerant control
• ISSN: 1748-8842; 1758-4213; 1748-8842
• DOI: 10.1108/AEAT-03-2023-0080

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.