[1]齐俊桐,韩建达.旋翼飞行机器人故障诊断与容错控制技术综述[J].智能系统学报,2007,2(2):31-39.
　QI Jun-tong,HAN Jian-da.Fault diagnosis and faulttolerant control of rotorcraft flying robots: a survey[J].CAAI Transactions on Intelligent Systems,2007,2(2):31-39.
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旋翼飞行机器人故障诊断与容错控制技术综述

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 2 期数: 2007年第2期 页码: 31-39 栏目: 综述 出版日期: 2007-04-25
Title:
Fault diagnosis and faulttolerant control of rotorcraft flying robots: a survey
文章编号:
1673-4785(2007)02-0031-09
作者:
齐俊桐1,2,韩建达1
1.中国科学院沈阳自动化研究所机器人学重点实验室，辽宁沈阳1 10016；
2.中国科学院研究生院，北京100049
Author(s):
QI Jun-tong1,2，HAN Jian-da1
1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sc iences, Shenyang 110016, China;
2.Graduate University of the Chinese Academy of Sciences, Beijing 100049, China
关键词:
旋翼飞行机器人; 故障检测; 故障诊断; 容错控制
Keywords:
rotorcraft flying robots;  fault detection;  fault diag nosis;  faulttolerant control
分类号:
TP302.8
文献标志码:
A
摘要:
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.
Abstract:
In this paper, a survey of fault detection and diagnosis (FDD) and fau lttolerant control (FTC) technology for rotorcraft flying robots (RFRs) is pre s ented. The present status of fault diagnosis and faulttolerant technology is i ntroduced based on analysis of some main features of this technology for RFRs. R esearch progress and significant approaches for FDD and FTC of RFRs are summariz ed. Finally, the main difficulties, challenges and future development in this re search field are presented.
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备注/Memo

收稿日期：2006-10-19.
基金项目：863国家高技术研究发展计划资助项目（200 3AA421020）
作者简介：齐俊桐，男，1981年生，博士研究生，主要研究方向为飞行机器人自主控制、容错控制.E-mail: qijt@sia.cn.
韩建达，男，1968年生，研究员，博士生导师，《机器人》杂志副主编，主要研究方向为自主控制、机器人系统，在国内外期刊及会议发表文章60余篇.? E-mail: jdhan@sia.cn.

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