Fault-Tolerant Fuzzy Gain-Scheduled PID for a Quadrotor Helicopter Testbed in the Presence of Actuator Faults
作者： Mohammad Hadi Amoozgar , Abbas Chamseddine , Youmin Zhang
DOI: 10.3182/20120328-3-IT-3014.00048
关键词: Actuator 、 Engineering 、 Fuzzy logic 、 Fuzzy control system 、 Control theory 、 PID controller 、 Fault tolerance 、 Control engineering 、 Testbed 、 Fault (power engineering) 、 Control theory
摘要: Abstract In the current study, an adaptive PID controller is proposed for fault-tolerant control of a quadrotor helicopter system in presence actuator faults. A fuzzy inference scheme used to tune real-time gains. Tracking errors and change tracking are this scheduler make act faster more effectively event fault occurrence. Two scenarios investigated: loss effectiveness all actuators one single actuator. The compared with conventional through experimental application testbed at Department Mechanical Industrial Engineering Concordia University. obtained results show method.
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