LQR-Based Optimal Tracking Fault Tolerant Control for a Helicopter with Actuator Faults

摘要

This study develops an optimal tracking fault tolerant control (FTC) scheme for a helicopter with actuator faults, which integrates the FTC, tracking control and optimal control in one unified framework. The unknown continuous function which is composed of actuator faults is handled using the disturbance observer technology. The trajectory tracking problem is transformed into an optimal control problem and the optimal FTC law is presented to ensure the tracking errors convergence based on the linear quadratic regulator (LQR) control technology. Simulation results obtained show that the proposed optimal tracking fault tolerant controller is effective and useful.