Fault-Tolerant Control design using LPV Admissible Model Matching: Application to a two-degree of freedom helicopter

Authors:
Saul Montes de Oca;Vicenc Puig;Didier Theillio;Sebastian Tornil-Sin
Affiliations:
Advanced Control Systems Research Group at the Automatic Control Departament of Technical University of Catalonia (UPC), Pau Gargallo, 5, 08028 Barcelona, Spain;Advanced Control Systems Research Group at the Automatic Control Departament of Technical University of Catalonia (UPC), Pau Gargallo, 5, 08028 Barcelona, Spain;Centre de Recherche en Automatique de Nancy, CRAN UMR 7039 B.P. 239, F-54506 Vandoeuvre lès Cedex, France;Advanced Control Systems Research Group at the Automatic Control Departament of Technical University of Catalonia (UPC), Pau Gargallo, 5, 08028 Barcelona, Spain
Venue:
MED '09 Proceedings of the 2009 17th Mediterranean Conference on Control and Automation
Year:
2009

Citing 0
Cited 3

Experimental test of an interacting multiple model filtering algorithm for actuator fault detection and diagnosis of an unmanned quadrotor helicopter

ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Experimental Test of a Two-Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter

Journal of Intelligent and Robotic Systems
A Review on Fault Diagnosis and Fault Tolerant Control Methods for Single-rotor Aerial Vehicles

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, a new approach to design a Fault-Tolerant Control (FTC) based on Linear Parameter Varying (LPV) Admissible Model Matching (AMM) is proposed. The suggested strategy is an active technique that requires the fault to be detected and estimated by the FDI scheme. Then, the controller is redesigned accordingly. In this work, faults are expressed as a change in the system dynamics (in particular, in the model parameters). The main contribution of the proposed approach is to consider the fault as a scheduling variable in the LPV model that allows the controller reconfiguration. The range of the scheduling variables (fault magnitude and system operating point) allow to specify the set of admissible behaviors. The effectiveness and performances of the method have been illustrated in a two degree of freedom helicopter.