Fault Tolerant Tracking Control for Quad-Rotor Helicopter via Robust Adaptive Technique

This paper presents a robust adaptive H∞ strategy to solve the attitude of the quad-rotor helicopter control problems with actuator failures and external disturbances. The dynamic motion equations are obtained by the Euler formalism. Based on the linear time-invariant state-space equations of the quad-rotor, a state feedback robust adaptive H∞ tracking controller is proposed to track the given attitude angles with actuator faults. The controller gain consists of two parts: one part is the fixed gain which is obtained based on LMIs (linear Matrix inequalities), the other one is the time-varying gain which is adjusted on-line by the designed adaptive laws. Simulations based on a 3D Hover System of Quanser, are presented to verify the control strategy in the SIMULINK/MATLAB environment