Fault Tolerant Tracking Control for Quad-Rotor Helicopter via Robust Adaptive Technique
文献类型：会议论文
| 作者 | Zhang, Kangkang; Ye D(叶丹); Zhao XG(赵新刚)
|
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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