期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2014
卷号：11
DOI：10.5772/58833
语种：English
出版社：SAGE Publications
摘要：In this paper, an optimal reconfiguration control scheme is proposed for a quadrotor helicopter with actuator faults via adaptive control and combined multiple models. The combined models set contains several fixed models, namely an adaptive model and a reinitialized adaptive model. The fixed models and the adaptive model can describe the failure system under different fault conditions. Moreover, the proposed reinitialized adaptive model refers to the closest model of the current system and can improve the speed of convergence effectively. In addition, the reference model is designed in consideration of an optimal control performance index and the principle of the minimum cost to achieve perfect tracking performance. Finally, some simulation results demonstrate the effectiveness of the proposed reconfiguration control scheme for faulty cases.
关键词：Adaptive control; Multiple models; Optimization; Quadrotor helicopter; Reconfiguration control
