FAULT-TOLERANT TRACKING CONTROL FOR UNMANNED HELICOPTER ALTITUDE AND ATTITUDE SYSTEM BASED ON PRESCRIBED PERFORMANCE METHOD

摘要

In this paper, an adaptive neural fault-tolerant tracking control method is proposed for the nonlinear unmanned helicopter (UH) altitude and attitude system using prescribed performance technique. The neural network (NN) and the disturbance observer are utilized to tackle the system uncertainties, unknown disturbance and actuator gain faults, respectively. Furthermore, the prescribed performance function technology is introduced to deal with output constraints of helicopter altitude and attitude system. In addition, the boundness of tracking errors of closed-loop system is ensured by Lya-punov stability analysis. The simulation results show that the designed adaptive neural fault-tolerant tracking control schemes is effective, and the tracking performance is satisfactory.