An Improved Nonlinear Model and Adaptive Fault-tolerant Control for a Twin Rotor Helicopter
This paper proposes an improved nonlinear model for a twin rotor helicopter and its robust adaptive strategy with uncertainties and faults.Firstly,a modified dynamic model is developed,in which coupling among axes is fully considered.This model scheme is useful for applications when the accuracy of original model can not be satisfied.Then,to preclude the performance degradation,a robust adaptive fault-tolerant control scheme is designed for the helicopter.Considering multiple faults,an online support vector machine controller is proposed to learn the state error caused by many factors.Since the error contains both dynamic uncertainties and partial disable faults,additional controllers are not required to get rid of the unwanted faults.Stability of the closed-loop system is analyzed with the Lyapunov stability theory.Finally,simulation is presented with multiple faults to verify the effectiveness and feasibility of the improved model and controller.
Adaptive control Fault-tolerant control Multiple faults Nonlinear model Twin rotor helicopter
Zheng WANG Fuyang CHEN Bin JIANG
College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,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
3208-3212
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）