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Fault tolerant control design for polytopic uncertain LPV systems: application to a quadrotor
Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Torres Cebrián, Abel; Puig Cayuela, Vicenç
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control; Universitat Politècnica de Catalunya. SISBIO - Senyals i Sistemes Biomèdics
This paper presents a Fault Tolerant Control (FTC) design for polytopic uncertain Linear Parameter-Varying (LPV) systems, applied to an aerospace application: a quadrotor. Depending on the information available about the fault, the FTC strategy could be passive FTC, active FTC without controller reconfiguration or active FTC with controller reconfiguration. The FTC strategy is designed taking into account the robust LPV polytopic framework. The effectiveness of the proposed method is demonstrated by its application to a quadrotor.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Fault tolerance (Engineering)
Fault tolerant control Quadrotor Model-based methods Linear parameter-varing systems
Tolerància als errors (Enginyeria)
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