A Reconfiguration Control Scheme for a Quadrotor Helicopter via Combined Multiple Models. (20th August 2014)

• Record Type: Journal Article
• Authors: Chen, Fuyang; Wu, Qingbo; Tao, Gang; Jiang, Bin
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 8(2014)
• Publication Date: 2014-08-20
• Subjects: Adaptive Control -- Multiple Models -- Optimization -- Quadrotor Helicopter -- Reconfiguration Control; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/58833
• Languages: English
• ISSNs: 1729-8806

Abstract

In this paper, an optimal reconfiguration control scheme is proposed for a quadrotor helicopter with actuator faults via adaptive control and combined multiple models. The combined models set contains several fixed models, an adaptive model and a reinitialized adaptive model. The fixed models and the adaptive model can describe the failure system under different fault conditions. Moreover, the proposed reinitialized adaptive model refers to the closest model of the current system and can improve the speed of convergence effectively. In addition, the reference model is designed in consideration of an optimal control performance index and the principle of the minimum cost to achieve perfect tracking performance. Finally, some simulation results demonstrate the effectiveness of the proposed reconfiguration control scheme for faulty cases.