A passive fault-tolerant switched control approach for linear multivariable systems: application to a quadcopter unmanned aerial vehicle model
[ X ]
Tarih
2020
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
ASME
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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.
Açıklama
Anahtar Kelimeler
[No Keywords Available]
Kaynak
Journal Of Dynamic Systems Measurement And Control-Transactions Of The Asme
WoS Q Değeri
Q4
Scopus Q Değeri
Cilt
142
Sayı
3
Künye
Başak, H., Kemer, E., & Prempain, E. (2020). A Passive Fault-Tolerant Switched Control Approach for Linear Multivariable Systems: Application to a Quadcopter Unmanned Aerial Vehicle Model. Journal of Dynamic Systems, Measurement, and Control, 142(3).
