Adaptive compensation control of the quadrotor helicopter using quantum information technology and disturbance observer

被引：69

作者：

Chen, Fuyang ^{[1
]}

Lu, Feifei ^{[1
]}

Jiang, Bin ^{[1
]}

Tao, Gang ^{[2
]}

机构：

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

[2] Univ Virginia, Dept Elect & Comp Engn, Charlottesville, VA 22903 USA

来源：

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2014年 / 351卷 / 01期

基金：

中国国家自然科学基金;

关键词：

SLIDING-MODE CONTROL; ACTUATOR FAILURE COMPENSATION; NONLINEAR-SYSTEMS; TRACKING;

D O I：

10.1016/j.jfranklin.2013.09.009

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an adaptive compensation control scheme is developed via disturbance observer and quantum information technology for the four-rotor helicopter, which can handle the control problems of helicopter's attitude with the unknown actuator failures and external disturbance effectively. Both the digital simulations and the semi-physical simulations in a Quanser 3-DOF hover platform illustrate the effectiveness of the proposed compensation control scheme. (C) 2013 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

引用

页码：442 / 455

页数：14

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