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Nonlinear analysis of vehicle control actuations based on controlled invariant sets

Balázs Németh;  Péter Gáspár;  Tamás Péni — 2016

International Journal of Applied Mathematics and Computer Science

In the paper, an analysis method is applied to the lateral stabilization problem of vehicle systems. The aim is to find the largest state-space region in which the lateral stability of the vehicle can be guaranteed by the peak-bounded control input. In the analysis, the nonlinear polynomial sum-of-squares programming method is applied. A practical computation technique is developed to calculate the maximum controlled invariant set of the system. The method calculates the maximum controlled invariant...

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

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....

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