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.
Highlights
In exhibiting open-loop, unstable, dynamic characteristics, the quadrotor helicopter poses challenges for researchers and several significant results have appeared in the literature [1,2,3,4,5]
Its control object is to compensate the change in dynamic performance resulting from actuator faults, which can be supplemented by the redundancy of the effective control
An optimal control design has been considered for the construction of the reference model
Summary
In exhibiting open-loop, unstable, dynamic characteristics, the quadrotor helicopter poses challenges for researchers and several significant results have appeared in the literature [1,2,3,4,5]. Numerous sources of uncertainty may appear in the operating system, such as actuator degradation, external disturbances, potential time delays, and so on These problems may be amplified in the case of actuator faults whereby the helicopter loses its control effectiveness. An adaptive control law may take a relatively long time to compensate the uncertainties caused by the actuator failures if the control law is based on a single-model design. C. Tan applies a multiple model-based adaptive actuator failure compensation scheme for the control of near-space vehicles [19]. An optimal reconfiguration control scheme via multiple models is studied for a quadrotor helicopter with actuator failures.
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