摘要：AbstractIn this paper, a new passive fault-tolerant controller for 3-DOF helicopter is designed. The 3-DOF helicopter is an underactuated system, which has three degrees of freedom, however, only two control inputs. Here two virtual components related to only one control input are introduced, which when combined with other control input decouple the 3-DOF helicopter system into three separate subsystems. For each subsystem, a passive fault-tolerant controller is constructed based on nonsingular terminal sliding mode method, achieving attitude angle tracking. Finally, simulations are conducted to verify the effectiveness of the proposed scheme.
