中文摘要：

针对发生复杂故障情况下的直升机采用量子控制理论与自适应补偿器技术进行直接自修复控制方法研究。首先对线性参数时变直升机控制系统进行模型参考自适应控制器设计；其次在外环增加自适应补偿器提高直升机控制系统的自修复控制能力，并利用李雅普诺夫稳定性理论证明了该系统的稳定性。最后为提高自修复控制律的抗干扰能力，在不影响系统稳定性的前提下，在故障信号与干扰信号之间增加量子前馈控制模块。仿真结果表明了该控制方法的有效性。

英文摘要：

A direct self-repairing control approach is proposed for helicopter via quantum control techniques and adaptive compensator when some complex faults occur. For a linear varying-parameter helicopter control system, the model reference adaptive control law is designed and an adaptive compensator is used for improving its self-re- pairing capability. To enhance anti-interference capability of helicopter, quantum control feedforward is added be- tween fault and disturbance. Simulation results illustrate the effectiveness and feasibility of the approach.