Direct Adaptive Control Scheme for a Quadrotor Helicopter with Actuator Failures via Quantum Logic
Publication: Journal of Aerospace Engineering
Volume 29, Issue 5
Abstract
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.
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Acknowledgments
The project was supported by the Aeronautics Science Foundation of China (2014ZC52033) and the National Natural Science Foundation of China (61533009, 61374130, 61473146), a project funded by the Priority Academic Programme Development of Jiangsu Higher Education Institutions.
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Information & Authors
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Published In
Journal of Aerospace Engineering
Volume 29 • Issue 5 • September 2016
Copyright
© 2016 American Society of Civil Engineers.
History
Received: Mar 24, 2015
Accepted: Dec 14, 2015
Published online: Mar 17, 2016
Discussion open until: Aug 17, 2016
Published in print: Sep 1, 2016
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