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

fYear

2013

fDate

25-27 May 2013

Firstpage

4961

Lastpage

4966

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2013 25th Chinese

Conference_Location

Guiyang

Print_ISBN

978-1-4673-5533-9

Type

conf

DOI

10.1109/CCDC.2013.6561832

Filename

6561832