Robust quasi-LPV model reference FTC of a quadrotor UAV subject to actuator faults

Damiano Rotondo; Fatiha Nejjari; Vicenç Puig

International Journal of Applied Mathematics and Computer Science (2015)

  • Volume: 25, Issue: 1, page 7-22
  • ISSN: 1641-876X

Abstract

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A solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV) polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI) systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs) in order to achieve regional pole placement and H∞ norm bounding constraints. Simulation results are used to compare the different FTC strategies.

How to cite

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Damiano Rotondo, Fatiha Nejjari, and Vicenç Puig. "Robust quasi-LPV model reference FTC of a quadrotor UAV subject to actuator faults." International Journal of Applied Mathematics and Computer Science 25.1 (2015): 7-22. <http://eudml.org/doc/270643>.

@article{DamianoRotondo2015,
abstract = {A solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV) polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI) systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs) in order to achieve regional pole placement and H∞ norm bounding constraints. Simulation results are used to compare the different FTC strategies.},
author = {Damiano Rotondo, Fatiha Nejjari, Vicenç Puig},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {linear parameter varying systems; fault tolerant control; quadrotor; model reference-based control; linear matrix inequalities},
language = {eng},
number = {1},
pages = {7-22},
title = {Robust quasi-LPV model reference FTC of a quadrotor UAV subject to actuator faults},
url = {http://eudml.org/doc/270643},
volume = {25},
year = {2015},
}

TY - JOUR
AU - Damiano Rotondo
AU - Fatiha Nejjari
AU - Vicenç Puig
TI - Robust quasi-LPV model reference FTC of a quadrotor UAV subject to actuator faults
JO - International Journal of Applied Mathematics and Computer Science
PY - 2015
VL - 25
IS - 1
SP - 7
EP - 22
AB - A solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV) polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI) systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs) in order to achieve regional pole placement and H∞ norm bounding constraints. Simulation results are used to compare the different FTC strategies.
LA - eng
KW - linear parameter varying systems; fault tolerant control; quadrotor; model reference-based control; linear matrix inequalities
UR - http://eudml.org/doc/270643
ER -

References

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