Reconfiguration of a Helicopter Model

Abstract

A two-degrees-of-freedom helicopter experiment (see Fig. 17.1) is used as a more complex reconfiguration example. As demonstrated by Lunze et al. [2003], this system lends itself for control reconfiguration after actuator faults. It consists of a main lever that can rotate in two dimensions around its centre. Strong rotors are positioned at both ends which can create an upward force by blowing air down. The speed of the rotors can be controlled, and they can be rotated around the axis of the lever to change the direction of the force. There is a second set of smaller rotors that can only blow air sidewards (tangentially). A sketch of the system is shown in Fig. 17.2. A similar system without the redundant lateral rotors is studied by López-Martínez and Rubio [2003].