LPV Model-Based Tracking Control and Robust Sensor Fault Diagnosis for a Quadrotor UAV

López‐Estrada, Francisco‐Ronay; Ponsart, Jean-Christophe; Theilliol, Didier; Zhang, Youmin; Astorga‐Zaragoza, C.M.

doi:10.1007/s10846-015-0295-y

Cited by 79 publications

(33 citation statements)

References 27 publications

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“…Based on this approach, Liu et al [38] addressed the problem of finite-time stability and stabilization for a class of nonlinear systems with time-varying delay. However, both the T-S fuzzy and linear parameter varying (LPV) approaches [39,40] require considerably greater computational resources compared with a conventional PID controller.…”

Section: Related Workmentioning

confidence: 99%

Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles

Xuan-Mung

Hong

2019

Applied Sciences

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Quadcopter unmanned aerial vehicles continue to play important roles in several applications and the improvement of their control performance has been explored in a great number of studies. In this paper, we present an altitude control algorithm for quadcopters that consists of a combination of nonlinear and linear controllers. The smooth transition between the nonlinear and linear modes are guaranteed through controller gains that are obtained based on mathematical analysis. The proposed controller takes advantage and addresses some known shortcomings of the conventional proportional–integral–derivative control method. The algorithm is simple to implement, and we prove its stability through the Lyapunov theory. By prescribing certain flight conditions, we use numerical simulations to compare the control performance of our control method to that of a conventional proportional–derivative–integral approach. Furthermore, we use a DJI-F450 drone equipped with a laser ranging sensor as the experimental quadcopter platform to evaluate the performance of our new controller in real flight conditions. Numerical simulation and experimental results demonstrate the effectiveness of the proposed algorithm.

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Section: Related Workmentioning

confidence: 99%

Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles

Xuan-Mung

Hong

2019

Applied Sciences

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“…Sufficient conditions for the existence of the controller are given in Ref. [35] and presented hereafter. Consider the system (22)-(23), the feedback control law defined by (24), the integrator, and let the attenuation level be given by γ c > 0.…”

Section: Convex Tracking Controllermentioning

confidence: 99%

“…It is clear that LPV and TS systems have been developed independently but recently some works have started discussing about the analogies between these paradigms [23,34,35]. For this reason, we find it appropriate to consider a terminology that includes both schools of thought and in this review we propose to denote both LPV and TS systems as convex systems.…”

Section: Introductionmentioning

confidence: 99%

A Review of Convex Approaches for Control, Observation and Safety of Linear Parameter Varying and Takagi-Sugeno Systems

2019

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This paper provides a review about the concept of convex systems based on Takagi-Sugeno, linear parameter varying (LPV) and quasi-LPV modeling. These paradigms are capable of hiding the nonlinearities by means of an equivalent description which uses a set of linear models interpolated by appropriately defined weighing functions. Convex systems have become very popular since they allow applying extended linear techniques based on linear matrix inequalities (LMIs) to complex nonlinear systems. This survey aims at providing the reader with a significant overview of the existing LMI-based techniques for convex systems in the fields of control, observation and safety. Firstly, a detailed review of stability, feedback, tracking and model predictive control (MPC) convex controllers is considered. Secondly, the problem of state estimation is addressed through the design of proportional, proportional-integral, unknown input and descriptor observers. Finally, safety of convex systems is discussed by describing popular techniques for fault diagnosis and fault tolerant control (FTC).

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“…There are many LPV control/observer applications reported in the literature such as aircraft dynamics, wind turbines, automotive, vehicle motion, mechatronic, anaerobic digesters, biomechanical systems, and unmanned aerial vehicles . On the basis of these applications, it can be noted that the LPV approach is useful when the component parameters, like stiffness, inertias, resistances, and microbial growth rates, are depending on the state variables.…”

Section: Introductionmentioning

confidence: 99%

Generalized dynamic observers for quasi‐LPV systems with unmeasurable scheduling functions

Pérez-Estrada

Osorio-Gordillo

Darouach

et al. 2018

Intl J Robust & Nonlinear

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Summary This paper presents a generalized dynamic observer design for polytopic quasi–linear parameter‐varying systems where the parameters are depending on unmeasured state variables. It generalizes the existing results on the proportional observers and proportional‐integral observers. Conditions of existence and stability are given through the Lyapunov approach. Its design is obtained in terms of a set of linear matrix inequalities. A semiactive suspension example illustrates the performance and effectiveness of the proposed approach.

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LPV Model-Based Tracking Control and Robust Sensor Fault Diagnosis for a Quadrotor UAV

Cited by 79 publications

References 27 publications

Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles

Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles

A Review of Convex Approaches for Control, Observation and Safety of Linear Parameter Varying and Takagi-Sugeno Systems

Generalized dynamic observers for quasi‐LPV systems with unmeasurable scheduling functions

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