A Reliable Tracking Control for the 3-DOF Hovering System of Quadrotor with Multi-Actuator Faults

摘要：

　　In this paper,a reliable tracking control method based on the regional poles placement is utilized to solve the attitude tracking problem for the 3 Degree of Freedom( 3-DOF) hovering system of Quadrotor with multi-actuator faults.For the uncertain linear system,a more practical and general model of actuator faults is presented.And a sufficient condition on reliable tracking is proposed.The state feedback reliable controller is solved in terms of Linear Matrix Inequality(LMI).Finally,the simulation is examined on the Quanser 3-DOF hovering system to verify the feasibility and validity of the method.

关键词： Quadrotor uncertain system multi-actuator faults reliable tracking control regional pole placement

作者: Xinyu Zhang Bin Jiang Fuyang Chen Ke Zhang

作者单位: Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China Nanjing University of Aeronautics and Astronautics, Nanjing, 210016,China

会议类型: 国际会议

会议名称: the 25th Chinese Control and Decision Conference(第25届中国控制与决策会议)

会议地点: 贵阳

会议语种:英文

页码: 4961-4966

在线出版日期: 2013-05-01（万方平台首次上网日期，不代表论文的发表时间）