Design Of Fault-Tolerant Tracking Controller For Quad-Rotor Helicopter Via Robust Adaptive Technique

Quad-rotor is a category of rotorcraft that has the characteristic of novel appearance, excellent performance and vertical taking off and landing (VTOL), which is applied widely by military and civilian. With the development of science and technology, issues about the reliability and safety have been highlighted. Therefore, this thesis designs the fault-tolerant controller which has the ability to tolerant actuator faults and to reject disturbances outside the system and promotes the reliability and safety.At the second part of this thesis, a union fault model is established which consists of outage fault, time-varying loss of effectiveness fault, un-parameter stuck fault and bias fault. Then the dynamic mathematic models about attitude subsystem and position subsystem are built up based on the Newton-Euler equation by analyzing the force and torque of Quad-rotor. Furthermore, the state-space equations under the fault case are got by joining the union fault model and the dynamic models together. For the nonlinear state-space equations, the T-S fuzzy models are constructed based on the Takagi-Sugeno theory.In the third part of this thesis, based on the linear time-invariant state-space expressions of attitude subsystem, the robust adaptive tracking controller is designed. The controllable realization matrix introduced of unstable models for the reference signals chose as the servo compensation mechanism to deal with the tracking problem. Furthermore, the robust adaptive fault-tolerant tracking controller is designed based on the adaptive H? definition and direct adaptive theory to track the given orbit under the actuator fault case. Simulations based on the data of 3D Hover System for Quanser are presented to verify the control strategy in the MATLAB/SIMULINK environment.Different from the third chapter, chapter 4 designs the robust adaptive tracking controller based on the augmented T-S fuzzy model which uses the different techniques and considers effects of the uncertain system matrix. The controller guarantees the non-error asymptotically to track the reference signals with actuator faults and disturbances. Ultimately, simulations based on the data of Quad-rotor MK2.0 for MikroKopter are presented to verify the control strategy in the MATLAB/SIMULINK environment.Concluding remarks are presented at the end of this thesis. Some open problems are also pointed out, which deserve further study.