LQR-Based Optimal Tracking Fault Tolerant Control for a Helicopter with Actuator Faults

被引：0

作者：

Yan, Kun ^{[1
]}

Wu, Qingxian ^{[1
]}

Chen, Mou ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China

来源：

PROCEEDINGS OF 2018 IEEE 7TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE (DDCLS) | 2018年

基金：

中国国家自然科学基金;

关键词：

Helicopter; Fault Tolerant Control; Disturbance Observer; Optimal Control; Linear Quadratic Regulator; UNMANNED HELICOPTER; ATTITUDE-CONTROL; DESIGN; AUGMENTATION; SYSTEM;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This study develops an optimal tracking fault tolerant control (FTC) scheme for a helicopter with actuator faults, which integrates the FTC, tracking control and optimal control in one unified framework. The unknown continuous function which is composed of actuator faults is handled using the disturbance observer technology. The trajectory tracking problem is transformed into an optimal control problem and the optimal FTC law is presented to ensure the tracking errors convergence based on the linear quadratic regulator (LQR) control technology. Simulation results obtained show that the proposed optimal tracking fault tolerant controller is effective and useful.

引用

页码：1022 / 1027

页数：6

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