IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/187345.html
   My bibliography  Save this article

Direct Self-Repairing Control for Quadrotor Helicopter Attitude Systems

Author

Listed:
  • Huiliao Yang
  • Bin Jiang
  • Ke Zhang

Abstract

A quadrotor helicopter with uncertain actuator faults, such as loss of effectiveness and lock-in-place, is studied in this paper. An adaptive fuzzy sliding mode controller based on direct self-repairing control is designed for such nonlinear system to track the desired output signal, when any actuator of this quadrotor helicopter is loss of effectiveness or stuck at some place. Moreover, using the Lyapunov stability theory, the stability of the whole system and the convergence of the tracking error can be guaranteed. Finally, the availability of the proposed method is verified by simulation on 3-DOF hover to ensure that the system performance under faulty conditions can be quickly recovered to its normal level. And this proposed method is also proved to be better than that of LQR through simulation.

Suggested Citation

  • Huiliao Yang & Bin Jiang & Ke Zhang, 2014. "Direct Self-Repairing Control for Quadrotor Helicopter Attitude Systems," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-11, March.
    • Handle: RePEc:hin:jnlmpe:187345
    DOI: 10.1155/2014/187345
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2014/187345.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2014/187345.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2014/187345?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:187345. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.