Fault Tolerant Tracking Control for Quad-Rotor Helicopter via Robust Adaptive Technique
This paper presents a robust adaptive H∞ strategy to solve the attitude of the quad-rotor helicopter control problems with actuator failures and external disturbances.The dynamic motion equations are obtained by the Euler formalism.Based on the linear time-invariant state-space equations of the quad-rotor,a state feedback robust adaptive H∞ tracking controller is proposed to track the given attitude angles with actuator faults.The controller gain consists of two parts: one part is the fixed gain which is obtained based on LMIs(linear Matrix inequalities),the other one is the time-varying gain which is adjusted on-line by the designed adaptive laws.Simulations based on a 3D Hover System of Quanser,are presented to verify the control strategy in the SIMULINK/MATLAB environment.
quad-rotor attitude control actuator failure adaptive control (H)∞ tracking control
Kang-Kang Zhang Dan Ye Xin-Gang Zhao
School of Information Science and Engineering,Northeastern University,Shenyang 110819,P.R.China State Key Laboratory of Robotics Shenyang Institute of Automation,CAS Shenyang,110016,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
3233-3237
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）