This study considers the attitude control problems of a quadrotor helicopter with actuator failures and external disturbance and thus proposes a self-repairing control scheme via adaptive control and quantum logic. An improved model reference adaptive compensation controller is designed to compensate for the failures and disturbance, as well as to guarantee that the attitude angles of the quadrotor helicopter track the state output of a given reference system in which the upper bounds of disturbance and the unparameterized stuck faults are unknown. The asymptotic state tracking properties of the designed adaptive system are proven using Lyapunov stability theory. In addition, quantum logic is introduced to increase the control accuracy of this method. Finally, a numerical simulation example is presented to demonstrate the validity of the proposed control scheme.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Direct Adaptive Control Scheme for a Quadrotor Helicopter with Actuator Failures via Quantum Logic


    Contributors:
    Wang, Jin (author) / Du, Jiakang (author) / Chen, Fuyang (author) / Jiang, Bin (author) / Tao, Gang (author)

    Published in:

    Publication date :

    2016-03-17




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown