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Robust quasi-lpv model reference ftc of a quadrotor uav subject to actuator faults
Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; 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
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 H8 norm bounding constraints. Simulation results are used to compare the different FTC strategies.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Fault tolerance (Engineering)
linear parameter varying systems
fault tolerant control
quadrotor
model reference-based control
linear matrix inequalities
Tolerància als errors (Enginyeria)
info:eu-repo/semantics/publishedVersion
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