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    Öğe
    A passive fault-tolerant switched control approach for linear multivariable systems: application to a quadcopter unmanned aerial vehicle model
    (ASME, 2020) Başak, Hasan; Kemer, Emre; Prempain, Emmanuel
    This paper proposes synthesis algorithms for the design of passive state- and output-feedback fault-tolerant controllers. Sufficient conditions for the existence and the construction of such fault-tolerant controllers are given in terms of linear matrix inequalities (LMIs) which can be solved efficiently. The state-feedback fault-tolerant controller consists of a family of state-feedback gains switched appropriately according to a stabilizing switching signal so that the closed-loop system satisfies a performance requirement expressed in terms of system L-2 norm. Similarly, the output feedback controller consists of a family of full-order linear, time-invariant controllers switched according to a stabilizing signal that depends only on the controller states. Both approaches are passive in the sense that they do not rely on the detection and/or the estimation of the faults. The proposed approaches are tested on a nonlinear model of a quadcopter. Simulation results show that satisfactory stability, tracking, and disturbance rejection are maintained despite of time-varying actuator faults.
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    Öğe
    Switched H-2-state-feedback control with application to a fighter aircraft
    (Sage Publications, 2019) Kemer, Emre; Başak, Hasan; Prempain, Emmanuel
    This paper proposes two different H-2-state-feedback controller synthesis algorithms for uncertain linear, time-varying, switched systems. The synthesis algorithms are based on a dwell-time approach, which makes use of time-varying parameter-dependent Lyapunov functions. The control laws consist of state-feedback controllers that are switched according to external signals. The proposed synthesis algorithms are then employed to design switched H-2-state-feedback control laws for the longitudinal dynamics of the ADMIRE fighter benchmark model. The results obtained in simulation show the merits of the proposed approach.