An adaptive actuator failure compensation scheme for landing of a helicopter with robotic legs

摘要

This paper develops an adaptive actuator failure compensation scheme for landing of a helicopter with robotic legs. The adaptive control design uses an integration of multiple failure compensator controllers designed for each actuator failure pattern. Such a design effectively utilizes the actuation redundancy of the robotic manipulators, using for landing of a helicopter, to compensate for possible actuator failures with no knowledge of actuator failure pattern, failure time instant and failure values. With complete parameterization of system and actuator failure uncertainties and direct adaptation of controller parameters, the adaptive control scheme guarantees desired closed-loop stability and asymptotic output tracking, despite uncertain actuator failures. Simulation results are presented to verify the desired system performance.