摘要：AbstractThis paper proposes a fault-tolerant tracking control for the elevation and pitch angles of a 3-DOF helicopter system, subject to actuator faults and input saturation. The effects of the fault and saturation are combined as a composite actuator fault, which is estimated together with the system state using an adaptive two-step sliding mode observer. An adaptive backstepping controller is then designed to compensate for the composite fault effect and achieve angle tracking. The control design can ensure system stability and achieve described tracking performance in spite of actuator fault and saturation, as verified through comparative simulations for the 3-DOF helicopter system.
