Supervisory fault tolerant control of the GTM UAV using LPV methods
Tamás Péni, Báltin Vanek, Zoltán Szabó, József Bakor (2015)
International Journal of Applied Mathematics and Computer Science
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A multi-level reconfiguration framework is proposed for fault tolerant control of over-actuated aerial vehicles, where the levels indicate how much authority is given to the reconfiguration task. On the lowest, first level the fault is accommodated by modifying only the actuator/sensor configuration, so the fault remains hidden from the baseline controller. A dynamic reallocation scheme is applied on this level. The allocation mechanism exploits the actuator/sensor redundancy available...