Research On LPV-based Self-repairing Control For Helicopter

Helicopter flight control system is an important part of the helicopter and plays a crucial role inthe helicopter flight performance and safety. A helicopter in flight will be affected by actuator fault,disturbance, and other uncertain factors. These factors will directly affect the safety and performanceof helicopter. Therefore, it’s significant to research the self-repairing control of the helicopter flightcontrol system. This paper discusses the self-repairing control technology for the helicopter withactuator failures which combines linear parameter-varying (LPV) techniques.Firstly, in this paper, the history and the development of self-repairing control are surveyed. Alsothe problem of the helicopter self-repairing control based on LPV is proposed. Then an overview ofthe LPV system theory is given, and the basic knowledge of Linear Matrix Inequality (LMI) isintroduced. All above are the foundations of the following study of self-repairing control.Secondly, this paper deals with the problem of self-repairing control for a class of LPV systems,and proposes a new self-repairing control method based on integral sliding mode control for LPVsystems. The result shows that the proposed self-repairing control method can achieve betterself-repairing capability.Thirdly, this paper proposes a new self-repairing control method based on fault observer andadaptive control for LPV system. The adaptive fault observer is designed by use of LPV polytopicstructure. Then on the basis of the observer, adaptive control is proposed. The observer reduces theburden of the adaptive controller, meanwhile, it improve the effectiveness of the self-repairingcontrol.Fourthly, considering the existence of time delay in the helicopter flight control system, a newself-repairing control method based on adaptive global s liding mode control is proposed. Thecontroller eliminates the reaching phase of the traditional sliding mode control, and realizes the onlineidentification of fault value, overcoming the influences of the actuator fault and input time delay.Finally, the three proposed methods in the paper are simulated in the LPV helicopter flightcontrol system. The simulation results show that all of the methods are effectiveness and feasibility.Research achievements in this paper have offered a useful thought to improve the security andreliability of the helicopter system.