旋翼飞行机器人故障诊断与容错控制技术综述

对故障诊断和容错技术的发展过程进行了简要概述,以旋翼飞行机器人为研究对象,在分析了旋翼飞行机器人故障诊断与容错控制特点的基础上,介绍了当前国内外在该领域的研究进展和主要方法.最后,总结了该领域待解决的难点问题,并指出了该研究领域的发展趋势.

In this paper, a survey of fault detection and diagnosis (FDD) and fault-tolerant control (FTC) technology for rotorcraft flying robots (RFRs) is presented. The present status of fault diagnosis and fault-tolerant technology is introduced based on analysis of some main features of this technology for RFRs. Research progress and significant approaches for FDD and FTC of RFRs are summarized. Finally, the main difficulties, challenges and future development in this research field are presented.

863国家高技术研究发展计划资助项目(2003AA421020)