Name
Abstract | ||
|---|---|---|
In this paper, an adaptive fault tolerant controller based on L-1 control is developed and applied to the trajectory tracking for a quadrotor helicopter. Both multiplicative and additive actuator faults are considered. The proposed design is based on nonlinear feed-forward compensations and a typical nonlinear quadrotor model with uncertain inertial parameters and external disturbances. The L-1 adaptive control design is slightly modified to adapt with the position and the attitude error dynamics. The proposed adaptive controller yields uniformly verifiable bounds on the transient and the steady-state tracking error for any designated bounded reference trajectory. In the presence of fast adaptation, the adaptive controller compensates for actuator fault and disturbances in a particular frequency range. Finally, simulation results are included to validate the effectiveness of the proposed design. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1177/0142331217728568 | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL |
Keywords | DocType | Volume |
Quadrotor,trajectory tracking,fault tolerant control,adaptive control,low-pass filters | Journal | 40.0 |
Issue | ISSN | Citations |
12 | 0142-3312 | 1 |
PageRank | References | Authors |
0.39 | 6 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Min Li | 1 | 2 | 2.03 |
| Zongyu Zuo | 2 | 560 | 30.83 |
| Hao Liu | 3 | 153 | 20.47 |
| Cunjia Liu | 4 | 9 | 5.39 |
| Bing Zhu | 5 | 99 | 14.45 |