Fault Tolerant LPV Control of the GTM UAV with Dynamic Control Allocation

Vanek, Bálint; Péni, Tamás; Szabó, Zoltán; Bokor, József

doi:10.2514/6.2014-1148

Cited by 5 publications

(5 citation statements)

References 36 publications

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“…LPV (linear parameter various) model is proven effective in multi-fault modeling. 17 And the steering angle command can be obtained through a LMI (linear matrix inequality) solver. 18 Active fault-tolerant control can achieve high accuracy with active fault observation and parameter adjustment, but not strong robustness.…”

Section: Related Workmentioning

confidence: 99%

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Path tracking control for autonomous vehicles using hybrid fault-tolerant approach

Chen,

Hu,

Zhang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Signal delay, execution deviation and reference model mismatch are common faults in autonomous vehicles, resulting in reduced path tracking control performance. To improve the path tracking performance of autonomous vehicles under fault conditions, this paper proposes a hybrid fault-tolerant (HFT) path tracking control approach, in which passive fault-tolerant path tracking control and fault observer-based hybrid active fault-tolerant path tracking control are introduced. The probable usual errors in path tracking are first examined and analyzed, together with the vehicle kinematic model and a typical autonomous driving system. Then, a slide-mode-based passive fault-tolerant path tracking controller is designed and integrated with a fault observer to create a hybrid active fault-tolerant controller. Finally, simulations and experiments are conducted, and the results demonstrate that our proposal is effective. After convergence of the fault observations, the lateral tracking error is less than 0.2m and the root mean square of the tracking error is 44% smaller than the LQR approach.

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Section: Related Workmentioning

confidence: 99%

“…LPV (linear parameter various) model is proven effective in multi-fault modeling. 17 And the steering angle command can be obtained through a LMI (linear matrix inequality) solver. 18…”

Section: Introductionmentioning

confidence: 99%

Path tracking control for autonomous vehicles using hybrid fault-tolerant approach

Chen,

Hu,

Zhang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…where the vector r of reference signals is defined as r i = 0 if i = and r = f . Vectors L and U collect the lower and upper limits of the actuators and the diagonal matrix W is used to weight the tracking errors [8], [13]. By defining r in the way above we prescribe 0 reference for the non faulty inputs.…”

Section: Fault Signal Trackingmentioning

confidence: 99%

“…The main component of the proposed reconfiguration architecture is the nullspace of the LPV system to be controlled. Although the nullspace of a dynamical system bears significant importance on several other fields of control as well [12], [13], [14] its numerical computation has been solved only partially so far. In [15] an algorithm based on matrix pencils is proposed to compute the dynamic kernel of an LTI system.…”

Section: Introductionmentioning

confidence: 99%

Nullspace-Based Input Reconfiguration Architecture for Overactuated Aerial Vehicles

Péni

Vanek

Lipták

et al. 2018

IEEE Trans. Contr. Syst. Technol.

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A dynamic input reconfiguration architecture is proposed for over-actuated aerial vehicles to accommodate actuator failures. The method is based on the dynamic nullspace computed from the linear parameter-varying model of the plant dynamics. If there is no uncertainty in the system, then any signal filtered through the nullspace has no effect on the plant outputs. This makes it possible to reconfigure the inputs without influencing the nominal control loop and thus the nominal control performance. Since the input allocation mechanism is independent of the structure of the baseline controller, it can be applied even if the baseline controller is not available in analytic form. The applicability of the proposed algorithm is demonstrated via the case study of designing a fault tolerant controller for the Rockwell B-1 Lancer aircraft.

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“…In the context of the LPV system, several CA schemes have been proposed recently. One notable example is the dynamics CA scheme introduced by [28] in their work on the quadrotor system. In [29], an interval sliding mode observer-based online CA scheme is proposed for a non-minimum phase LPV system.…”

Section: Introductionmentioning

confidence: 99%

Output Feedback Fault Tolerant Control for Linear Parameter Varying Plants Considering Imperfect Fault Information

Azeem,

Hamayun,

Ijaz

et al. 2024

IEEE Access

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This study focuses on the design of an integral sliding mode-based fault-tolerant control allocation (ISM-FTCA) scheme for the class of uncertain linear parameter varying (LPV) systems. The objective is to tackle the fault occurring in the actuator channel by exploiting available redundancy through a control allocation (CA) scheme in an output feedback framework. In this work, the assumption on the estimation of actuator effectiveness level, which was previously considered (in the existing literature) to be perfect coming from fault diagnosis and identification (FDI) scheme, is relaxed due to its bit conservatism nature. The uncertain system dynamics, originating due to faults, failures, and imperfect fault information, are catered to by designing a virtual control law using the LPV output ISM control strategy. An unknown input LPV observer is designed to provide the estimate of unmeasured plant states to the virtual control law. This work thoroughly investigates the closed-loop dynamics of the uncertain LPV system, utilizing the small gain theorem to develop criteria for stability. These conditions provide crucial insights into the performance and robustness of the suggested strategy. Finally, the efficiency of the proposed control scheme is verified in the simulation environment by using a nonlinear 6-degree-of-freedom dynamic model of the octarotor unmanned aerial vehicle (UAV) system. Numerical simulations under different faults and failures conditions and in the presence of imprecise estimation validate the closed-loop performance close to nominal scenarios.

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Fault Tolerant LPV Control of the GTM UAV with Dynamic Control Allocation

Cited by 5 publications

References 36 publications

Path tracking control for autonomous vehicles using hybrid fault-tolerant approach

Path tracking control for autonomous vehicles using hybrid fault-tolerant approach

Nullspace-Based Input Reconfiguration Architecture for Overactuated Aerial Vehicles

Output Feedback Fault Tolerant Control for Linear Parameter Varying Plants Considering Imperfect Fault Information

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