A reliable tracking control for the 3-DOF hovering system of quadrotor with multi-actuator faults

摘要

In this paper, a reliable tracking control method based on the regional poles placement is utilized to solve the attitude tracking problem for the 3 Degree of Freedom(3-DOF) hovering system of Quadrotor with multi-actuator faults. For the uncertain linear system, a more practical and general model of actuator faults is presented. And a sufficient condition on reliable tracking is proposed. The state feedback reliable controller is solved in terms of Linear Matrix Inequality(LMI). Finally, the simulation is examined on the Quanser 3-DOF hovering system to verify the feasibility and validity of the method.