**Self-Healing Control Framework Against Actuator Fault of Single-Rotor Unmanned Helicopters**

Xin Qi, Zhong Liu, Yuqing He, Liying Yang, Yuqing He and Jianda Han

Additional information is available at the end of the chapter

http://dx.doi.org/10.5772/62480

#### **Abstract**

Unmanned helicopters (UHs) develop quickly because of their ability to hover and low speed flight. Facing different work conditions, UHs require the ability to safely operate under both external environment constraints, such as obstacles, and their own dynamic limits, especially after faults occurrence. To guarantee the postfault UH system safety and maximum ability, a self‐healing control (SHC) framework is presented in this chapter which is composed of fault detection and diagnosis (FDD), fault‐tolerant control (FTC), trajectory (re‐)planning, and evaluation strategy. More specifically, actuator faults and saturation constraints are considered at the same time. Because of the existence of actuator constraints, usable actuator efficiency would be reduced after actuator fault occurrence. Thus, the performance of the postfault UH system should be evaluated to judge whether the original trajectory and reference is reachable, and the SHC would plan a new trajectory to guarantee the safety of the postfault system under environment constraints. At last, the effectiveness of proposed SHC framework is illustrated by numerical simulations.

**Keywords:** fault detection and diagnosis, fault‐tolerant control, invariant set, self‐ healing control framework, trajectory (re‐)planning
