Fault tolerant tracking control for quad-rotor helicopter via robust adaptive technique

@article{Zhang2014FaultTT,
  title={Fault tolerant tracking control for quad-rotor helicopter via robust adaptive technique},
  author={Kang-Kang Zhang and Dan Ye and Xingang Zhao},
  journal={Proceedings of the 33rd Chinese Control Conference},
  year={2014},
  pages={3233-3237}
}
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… CONTINUE READING

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