A Reconfiguration Scheme for Quadrotor Helicopter via Simple Adaptive Control and Quantum Logic

A reconfiguration control scheme is proposed for a quadrotor helicopter with loss of control effectiveness via simple adaptive control and quantum logic. Some good control performances of the helicopter can be achieved by applying quadratic optimal control with scheduled stability degree when the system is in normal operation. A parallel feedforward compensator is introduced to fulfill the condition of positive realness, and thus, the simple adaptive controller can be utilized for the helicopter. Quantum logic is also applied to the quadrotor control system, which achieves the quantization of the disturbances patterns. A mathematical model of the quadrotor helicopter for application is obtained from its dynamic equations with pitch, roll, and yaw axes, which includes the parameter perturbation and outer disturbances. Several simulation and experimental results for the faulty helicopter validate the robustness and reconfiguration control capability of the proposed scheme.