Research On Adaptive Control Based Reconfigurable Control Methods Forquad-rotor Helicopter

As a new type of aircraft, the quadrotor helicopter has flexible maneuverability and can accomplish different kinds of complex missions as well as vertical taking off and landing. So it has good prospect in military and civil territory. However, the flight quality and safety of the quadrotor helicopter will be affected directly or indirectly if faults and external interference occur in the system. This paper has studies the design of reconfigurable control system for the quadrotor helicopter with actuator faults by utilizing adaptive control and other related control method.Firstly, the structure characteristics and flight principle of the quadrotor helicopter are analyzed and main motion states of the helicopter are introduced. Meanwhile, the physical meaning of the helicopter attitude angles is illustrated and the mathematical model the quadrotor is established by applying the Euler-Lagrange method. Afterwards, the quadrotor simulation platform which is produced by the Quanser Company is introduced as the research object, and its system composition(hardware and software) and model parameters are given in relevant section.Secondly, a feedforward compensation based direct adaptive reconfigurable control scheme is proposed for the quadrotor system with actuator LOE faults and parametric uncertainties. The direct adaptive laws is designed by using the inputs, outputs and states of the reference model. Then a linear quadratic controller is designed as inner-loop feedback controller to ensure the effective operation in normal state. At last, the feedforward compensator is introduce to satisfy the ASPR condition. Simulation results validate good reconfigurable control capability of the proposed method.Thirdly, a multiple models method based adaptive reconfigurable control method is proposed for the linear quadrotor model with actuator LIP faults and external disturbances. The reference model is obtained by optimizing the original system according to the optimal performance index via optimal control and minimum principle. Based on the traditional multiple models method, another reinitialized adaptive model is added to formulate the model set. In this way, the convergent speed of the multiple models can be improved drastically. The great control performance of this scheme is verified by the simulation curves.Then, an H￥fault observer based adaptive reconfigurable control method is designed sequentially for the quadrotor helicopter with LIP faults. An adaptive reconfigurable controller with fault compensation is designed to achieve good tracking. To attain precise fault information for the reconfiguration, a fault observer with H￥performance index is researched to release the control burden of the adaptive reconfigurable controller. Applying this kind of fault identification algorithm, the robustness and reconfiguration ability can be enhanced greatly, which is revealed in the simulation part.Finally, experimental simulations are acted on the quadrotor helicopter semi-physical platform by using the above proposed control schemes. Feasibility and effectiveness of these schemes are showed by the simulation results.