Control Strategy for a Quadrotor Helicopter with State Delay via Improved Guaranteed Cost Control and Quantum Adaptive Control

作者：Hu, Longze; Chen, Fuyang^*; Jiang, Bin; Tao, Gang

来源：Journal of Aerospace Engineering, 2017, 30(4): 04017004.

DOI：10.1061/(ASCE)AS.1943-5525.0000713

• Quadrotor helicopter
• State delay
• Improved guaranteed cost control
• Quantum adaptive control

Improved guaranteed cost control and quantum adaptive control are developed in this study for a quadrotor helicopter with state delay and actuator faults. Improved guaranteed cost control is designed to eliminate disturbance effects and guarantee the robust stability of a quadrotor helicopter with state delay. The inapplicability of guaranteed cost control to the quadrotor linear model is addressed by combining guaranteed cost control with a model reference linear quadratic regulator. In the event of actuator faults, quadrotor tracking performance is maintained through quantum adaptive control. Finally, the availability of the proposed scheme is verified through numerical simulation.

• 出版日期2017-7
• 单位南京航空航天大学