文章基本信息

标题：Robust Self-Scheduled Fault-Tolerant Control of a Quadrotor UAV
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作者：Duc-Tien Nguyen ; David Saussié ; Lahcen Saydy 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：5761-5767
DOI：10.1016/j.ifacol.2017.08.1141
语种：English
出版社：Elsevier
摘要：AbstractThis paper deals with active fault-tolerant control (FTC) of a quadrotor in the presence of actuator faults. In previous studies, authors generally assume that the fault has been detected, isolated or identified and then proceed with a reconfigurable controller. This paper presents a complete active fault-tolerant control system with both fault detection and diagnosis (FDD) and FTC. The proposed FTC design is based on gain-scheduling control in the framework of structuredH∞synthesis. The scheduled gains are parameterized as polynomial functions of the loss of control effectiveness of the quadrotor’s actuators, estimated by a two-stage Kalman filter. Then, the MATLAB-based function systune tune the polynomial coefficients to meet the robustness and performance requirement. In comparison with other FTC systems which use switching mechanisms, this smooth self-scheduled controller allows one to avoid undesirable transient phenomenons during the controller reconfiguration process. Numerical simulations based on an underactuated 6DoF quadrotor nonlinear model show the good effectiveness of the proposed FTC in accommodating different levels of actuator faults.
关键词：KeywordsQuadrotorActuator faultsFault DetectionFault-Tolerant ControlTwo-Stage Kalman filterStructured H-Infinity ControlGain scheduling