Supervisory fault tolerant control of the GTM UAV using LPV methods

Tamás Péni; Báltin Vanek; Zoltán Szabó; József Bakor

International Journal of Applied Mathematics and Computer Science (2015)

  • Volume: 25, Issue: 1, page 117-131
  • ISSN: 1641-876X

Abstract

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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 on the aircraft. When the fault cannot be managed at the actuator/sensor level, the reconfiguration process has access to the baseline controller. Based on the LPV control framework, this is done by introducing fault-specific scheduling parameters. The baseline controller is designed to provide an acceptable performance level along all fault scenarios coded in these scheduling variables. The decision on which reconfiguration level has to be initiated in response to a fault is determined by a supervisor unit. The method is demonstrated on a full six-degrees-of-freedom nonlinear simulation model of the GTM UAV.

How to cite

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Tamás Péni, et al. "Supervisory fault tolerant control of the GTM UAV using LPV methods." International Journal of Applied Mathematics and Computer Science 25.1 (2015): 117-131. <http://eudml.org/doc/270456>.

@article{TamásPéni2015,
abstract = {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 on the aircraft. When the fault cannot be managed at the actuator/sensor level, the reconfiguration process has access to the baseline controller. Based on the LPV control framework, this is done by introducing fault-specific scheduling parameters. The baseline controller is designed to provide an acceptable performance level along all fault scenarios coded in these scheduling variables. The decision on which reconfiguration level has to be initiated in response to a fault is determined by a supervisor unit. The method is demonstrated on a full six-degrees-of-freedom nonlinear simulation model of the GTM UAV.},
author = {Tamás Péni, Báltin Vanek, Zoltán Szabó, József Bakor},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {fault tolerant control; linear parameter-varying systems; supervisory architecture; flight control},
language = {eng},
number = {1},
pages = {117-131},
title = {Supervisory fault tolerant control of the GTM UAV using LPV methods},
url = {http://eudml.org/doc/270456},
volume = {25},
year = {2015},
}

TY - JOUR
AU - Tamás Péni
AU - Báltin Vanek
AU - Zoltán Szabó
AU - József Bakor
TI - Supervisory fault tolerant control of the GTM UAV using LPV methods
JO - International Journal of Applied Mathematics and Computer Science
PY - 2015
VL - 25
IS - 1
SP - 117
EP - 131
AB - 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 on the aircraft. When the fault cannot be managed at the actuator/sensor level, the reconfiguration process has access to the baseline controller. Based on the LPV control framework, this is done by introducing fault-specific scheduling parameters. The baseline controller is designed to provide an acceptable performance level along all fault scenarios coded in these scheduling variables. The decision on which reconfiguration level has to be initiated in response to a fault is determined by a supervisor unit. The method is demonstrated on a full six-degrees-of-freedom nonlinear simulation model of the GTM UAV.
LA - eng
KW - fault tolerant control; linear parameter-varying systems; supervisory architecture; flight control
UR - http://eudml.org/doc/270456
ER -

References

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