Robust fault tolerant tracking control for unmanned autonomous helicopter with disturbance
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所属单位：自动化学院
发表刊物：Chinese Control Conf., CCC
摘要：This study presents an adaptive robust fault tolerant control (FTC) scheme for the medium-scale unmanned autonomous helicopter (UAH) with external unknown disturbances and actuator faults. The nonlinear disturbance observer (NDO) is developed to cope with the external unknown disturbances and actuator faults. On the basis of backstepping and sliding mode control technologies, the adaptive robust FTC scheme is designed to make the tracking errors convergent. Lyapunov stability analysis indicates that the closed-loop system is stable and all closed-loop signals are uniformly ultimately bounded. Simulation results are carried out to demonstrate the effectiveness of the proposed method. © 2018 Technical Committee on Control Theory, Chinese Association of Automation.
ISSN号：1934-1768
是否译文：否
发表时间：2018-10-05
合写作者：Yan, Kun,陈谋
通讯作者：吴庆宪