Actuator Fault Estimation and Reconfiguration Control for the Quad-Rotor Helicopter
نویسندگان
چکیده
منابع مشابه
Fault Tolerant Model Predictive Control of Quad-Rotor Helicopters with Actuator Fault Estimation
Model predictive control (MPC) at each time step minimizes a cost function subject to dynamical constraints to obtain a stabilizing control signal. Further, MPC is one of the few methodologies that can be used to design feedback control for nonlinear dynamical systems taking into consideration of actuator saturations. It can thus serve as a suitable fault tolerant control approach for quad-roto...
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Autonomous outdoor quad-rotor helicopters increasingly attract the attention of potential researchers. Several structures and configurations have been developed to allow 3D movements. The quadrotor helicopter is made of a rigid cross frame equipped with four rotors. The autonomous quad-rotor architecture has been chosen for this research for its low dimension, good manoeuvrability, simple mecha...
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An autonomous robot with vertical take-off and landing (VTOL) capability could be useful for many applications including search and rescue, exploration in hazardous environments, monitoring, surveillance and investigation or even for intelligence. However design of a flight control system for a small UAV is a challenging task. Unlike in conventional aircrafts the control algorithm has to be imp...
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This paper presents the investigation of the modelling and control of a quad‐rotor helicopter and forms part of research involving the development of an unmanned aerial vehicle (UAV) to be used in search and rescue applications. Quad‐rotor helicopters consist of two pairs of counter rotating rotors situated at the ends of a cross, symmetric about the centre of gra...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2016
ISSN: 1729-8814,1729-8814
DOI: 10.5772/62224