Fault Tolerant Tracking Control for Quad-Rotor Helicopter via Robust Adaptive Technique

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	Fault Tolerant Tracking Control for Quad-Rotor Helicopter via Robust Adaptive Technique
	Zhang, Kangkang; Ye D(叶丹); Zhao XG(赵新刚)
	2014
会议名称	2014 33rd Chinese Control Conference
会议日期	July 28-30, 2014
会议地点	Nanjing, China
关键词	quad-rotor attitude control actuator failure adaptive control H∞ tracking control
页码	3233-3237
通讯作者	Zhang, Kangkang
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议录	Proceedings of the 33rd Chinese Control Conference
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	2161-2927
WOS记录号	WOS:000366482803061
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15612]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Zhang, Kangkang,Ye D,Zhao XG. Fault Tolerant Tracking Control for Quad-Rotor Helicopter via Robust Adaptive Technique[C]. 见:2014 33rd Chinese Control Conference. Nanjing, China. July 28-30, 2014.