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In this paper, a composite fault-tolerant control problem is studied for a class of uncertain nonlinear system with asymmetric input constraint, actuator fault and external unmatched disturbance. The radial basis function neural network (RBFNN) is employed to approximate the unknown uncertainty and asymmetric input saturation. The approximation error, external unmatched disturbance and actuator faults...
One of the important problems related to unmanned helicopter, is the obstacle-avoidance strategy in the urban environment. Inspired by many insects which use optic flow for various navigational tasks, in this paper, the optic flow bionics technology was applied to improve the autonomy of small unmanned helicopter. This strategy can maintain the helicopter flying in the middle of narrow corridors and...
Wing rock is a highly nonlinear phenomenon, which is a main limit-cycle oscillation for an aircraft operating at subsonic speeds and high angles of attack. It is a challenge to design a valid controller under the condition that there exists model error and external disturbance. In this paper, a sliding mode disturbance observer based on homogeneity is proposed to improve the disturbance estimate performance...
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