AbstractThis 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.


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    Title :

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



    Published in:

    Publication date :

    2016




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.50 Luftfahrzeugtechnik / 51.40 Werkstoffe für bestimmte Anwendungsgebiete / 55.60 Raumfahrttechnik
    Local classification TIB:    770/7040





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    Free access