**Author details**

**Figure 14** shows the results of the postfault system with a SHC framework. After fault detection, Theorem 3 is recalled to calculate the new controllers, invariant sets, and reachable sets to evaluate the performance and guarantee the postfault UH system to be stable. At last, the UH can reach the target point with obstacle avoidance as shown by the actual trajectory.

In this chapter, a self‐healing control framework is proposed for UH systems. The SHC framework aims at providing a solution to guarantee UHs safety and maximum ability to achieve the desired missions under both fault‐free and postfault conditions. The EKF‐ and LNN‐based FDD approach is used to detect and diagnosis actuator faults modeled by AHCs. Then, the AHC‐based reconfigurable controller design method is proposed to calculate the fault‐tolerant controller and the related safety region against both actuator faults and con‐ straints by solving a set of LMIs. Third, the ISBP approach is presented for planning a feasible trajectory and computing the related controller reference under both external environment constraints and UH dynamic limits at the same time. After fault occurrence, based on the calculated safety region and controller reference, the performance of the postfault UH system can be evaluated, which can provide information whether the fault can be compensated and the original reference can be reached. If the original reference is not reachable, the ISBP approach will be recalled to calculate the new trajectory and reference again according to the postfault dynamic model. Finally, numerical simulations illustrate the effectiveness of the

This work was supported by Key Program of National Natural Science Foundation of China under Grant 61433016 and National Natural Science Foundation of China under Grant

**Figure 14.** Reachable sets and UH actual trajectory in postfault condition with SHC.

**8. Conclusions**

134 Recent Progress in Some Aircraft Technologies

proposed SHC framework.

**Acknowledgements**

61503369.

Xin Qi1,2, Zhong Liu1,2, Yuqing He1\*, Liying Yang1 , Yuqing He1 and Jianda Han1

\*Address all correspondence to: heyuqing@sia.cn

1 Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, P.R.China

2 University of Chinese Academy of Sciences, Beijing, P.R.China
