Direct Self-Repairing Control for Quadrotor Helicopter Attitude Systems

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="187345.fig.005a" src="https://static.hindawi.com/articles/mpe/volume-2014/187345/figures/187345.fig.005a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Rolling angle tracking curves</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="187345.fig.005b" src="https://static.hindawi.com/articles/mpe/volume-2014/187345/figures/187345.fig.005b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Pitching angle tracking curves</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="187345.fig.005c" src="https://static.hindawi.com/articles/mpe/volume-2014/187345/figures/187345.fig.005c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Yawing angle tracking curves</td></tr></table></td></tr></table>

<table>The output response curves with no fault.</table>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: Direct Self-Repairing Control for Quadrotor Helicopter Attitude Systems 