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

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.

• Record URL:
  https://doi.org/10.1061/(ASCE)AS.1943-5525.0000615
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/08931321
• Supplemental Notes:
  • © 2016 American Society of Civil Engineers.
• Authors:
  • Wang, Jin
  • Du, Jiakang
  • Chen, Fuyang
  • Jiang, Bin
  • Tao, Gang
• Publication Date: 2016-9

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: 04016026
• Serial:
  • Journal of Aerospace Engineering
  • Volume: 29
  • Issue Number: 5
  • Publisher: American Society of Civil Engineers
  • ISSN: 0893-1321
  • EISSN: 1943-5525
  • Serial URL: http://ascelibrary.org/journal/jaeeez

Subject/Index Terms

• TRT Terms: Actuators; Adaptive control; Failure; Flight attitude; Helicopters
• Subject Areas: Aviation; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01596960
• Record Type: Publication
• Files: TRIS, ASCE
• Created Date: Apr 22 2016 10:47AM