Title :
A reliable tracking control for the 3-DOF hovering system of quadrotor with multi-actuator faults
Author :
Xinyu Zhang ; Bin Jiang ; Fuyang Chen ; Ke Zhang
Author_Institution :
Nanjing Univ. of Aeronautcs & Astronaut., Nanjing, China
Abstract :
In this paper, are liable tracking control method based on the regional poles placement is utilized to solve the attitude tracking problem for the 3 Degree of Freedom(3-DOF) hovering system of Quadrotor with multi-actuator faults. For the uncertain linear system, a more practical and general model of actuator faults is presented. And a sufficient condition on reliable tracking is proposed. The state feedback reliable controller is solved interms of Linear Matrix Inequality(LMI). Finally, the simulation is examined on the Quanser 3-DOF hovering system to verify the feasibility and validity of the method.
Keywords :
actuators; autonomous aerial vehicles; helicopters; linear matrix inequalities; linear systems; position control; state feedback; uncertain systems; LMI; Quanser 3-DOF hovering system; degrees-of-freedom; linear matrix inequality; multiactuator fault; quadrotor; regional pole placement; state feedback controller; tracking control; uncertain linear system; Conferences; Quadrotor; multi-actuator faults; regional pole placement; reliable tracking control; uncertain system;
Conference_Titel :
Control and Decision Conference (CCDC), 2013 25th Chinese
Conference_Location :
Guiyang
Print_ISBN :
978-1-4673-5533-9
DOI :
10.1109/CCDC.2013.6561832
