Adaptive Observer and Fault Tolerant Adaptive Optimal Sliding Mode Controller Designing for 3DOF Helicopter Model in presence of Fault and Actuator Saturation

This paper proposes an optimal H adaptive observer based on Linear Matrix Inequality (LMI) for fault estimation (FE) with a sliding mode adaptive fault tolerance (FTC) controller (ASM) to propose a fault for the three-degree helicopter model. Has been. In this approach, the system states and the effects of the types of faults (shrinkage, loss of efficiency and locking of the operator) occurring in the operator, uncertainties in system dynamics and operators in the presence of external perturbation and noise are estimated by the adaptive observer. The saturation phenomenon is also considered in this study. Since in practice, for the large control signals, the actuators become saturated, the saturation effect of the actuators is modeled and the saturation effect is estimated by the observer. In the end, simulation results are presented on the dynamics of three degrees of freedom helicopter to demonstrate the effectiveness of the proposed approach, which results in satisfactory and satisfactory performance of the proposed algorithm.