A passive fault-tolerant switched control approach for linear multivariable systems: application to a quadcopter unmanned aerial vehicle model

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dc.contributor.authorBaşak, Hasan
dc.contributor.authorKemer, Emre
dc.contributor.authorPrempain, Emmanuel
dc.date.accessioned2020-04-03T07:48:33Z
dc.date.available2020-04-03T07:48:33Z
dc.date.issued2020
dc.departmentAÇÜ, Mühendislik Fakültesien_US
dc.description.abstractThis 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.
dc.identifier.citationBaşak, 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).en_US
dc.identifier.doi10.1115/1.4045559
dc.identifier.issue3en_US
dc.identifier.urihttps://hdl.handle.net/11494/2012
dc.identifier.volume142en_US
dc.identifier.wosqualityQ4
dc.indekslendigikaynakWeb of Science
dc.institutionauthorBaşak, Hasan
dc.language.isoenen_US
dc.publisherASMEen_US
dc.relation.ispartofJournal Of Dynamic Systems Measurement And Control-Transactions Of The Asme
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subject[No Keywords Available]en_US
dc.titleA passive fault-tolerant switched control approach for linear multivariable systems: application to a quadcopter unmanned aerial vehicle modelen_US
dc.typeArticle

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