Sliding-mode observer-based active fault-tolerance control for a two-degree-of-freedom helicopter system with sensor faults

In this paper, an active fault-tolerance controller is proposed for a two-degree-of-freedom (2-DOF) helicopter model with different types of sensor faults. The proposed controller is designed by combining an interval type-2 fuzzy logic control approach with a sliding-mode control technique. In addition, the controller is compensated by a sliding-mode observer used to estimate faults in real-time. For the proposed control scheme, the overall stability of the closed-loop system is proven using the Lyapunov stability theory. Finally, numerical simulations and experiments verify that the proposed scheme achieves superior control performance in the case of sensor failure.

Automated summary

In this paper, an active fault-tolerance controller is proposed for a two-degree-of-freedom (2-DOF) helicopter model with different types of sensor faults. The proposed controller is designed by combining an interval type-2 fuzzy logic control approach with a sliding-mode control technique. In addition, the controller is compensated by a sliding-mode observer used to estimate faults in real-time. The overall stability of the closed-loop system is proven using the Lyapunov stability theory. Finally, numerical simulations and experiments verify that the proposed scheme achieves superior control performance in the case of sensor failure.