An Improved Nonlinear Model for a Helicopter and its Self-repairing Control with Multiple Faults via Quantum Information Technique

作者：Chen Fuyang^*; Wang Zheng; Jiang Bin; Wen Changyun

来源：International Journal of Control Automation and Systems, 2015, 13(3): 557-566.

DOI：10.1007/s12555-013-0452-7

• Helicopter
• multiple faults
• nonlinear model
• quantum information technique
• self-repairing control

In this paper, an improved nonlinear model for a 3-DOF helicopter and its self-repairing control scheme are investigated via quantum information technique. Firstly, adopting the mechanism analysis, a modified dynamic model is developed, in which the couplings among axes are considered. Such a modeling scheme is useful for applications when the accuracy of original model can not be satisfied. Then, a reconfigurable control scheme is designed for the twin rotor helicopter with multiple faults and parametric uncertainties, which combines active disturbance rejection control method with model reference adaptive control method. In addition, quantum information technique is used to increase the accuracy of self-repairing control of helicopter. Finally, simulation verification is presented in both aspects of modeling and control. The effectiveness and feasibility of the proposed scheme are verified by comparative simulations.

• 出版日期2015-6
• 单位南阳理工学院; 南京航空航天大学