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This paper proposes a new nonlinear system identification method in time domain for a small-scale flybarless unmanned helicopter based on an adaptive differential evolution algorithm. By analyzing and processing the real input and output data, a nonlinear parametric model including heave dynamic model, yaw dynamic model and longitudinal–latitudinal subsystem is established. The validity of the identified...
Over-actuated systems with redundant actuators often arise in aerospace, automotive vehicles, marine vessels, and robotics applications. Due to this redundancy, control allocation methods are typically utilized to distribute control effort amongst many actuators to achieve a desired effect. Traditional methods assume that a perfectly linear relationship exists between the control moments and the effector...
This paper investigates the reliable tracking problem against helicopter actuator impairment under different trimming points with parameters uncertainty. First, the model of actuator faults is presented. Then a reliable robust tracking controller design methodology is developed. The algorithm is based on the iterative linear matrix inequalities (ILMIs), which has less conservativeness than the standard...
An adaptive retrofit fault-tolerant control algorithm against actuator faults suitable for flight control applications is developed in this paper which is based on the linear matrix inequalities (LMI) approach and adaptive approach. The algorithm is relatively simple and easy to implement, and assure that the control objective will be achieved despite the presence of the unknown loss of effectiveness...
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