Supervisory Fault Tolerant Control of the GTM UAV Using LPV Methods

Abstract

A multi-level reconfiguration framework is proposed for fault tolerant control of over-actuated aerial vehicles, where the levels indicate how much authority is given to the reconfiguration task. On the lowest, first level the fault is accommodated by modifying only the actuator/sensor configuration, so the fault remains hidden from the baseline controller. A dynamic reallocation scheme is applied on this level. The allocation mechanism exploits the actuator/sensor redundancy available on the aircraft. When the fault cannot be managed at the actuator/sensor level, the reconfiguration process has access to the baseline controller. Based on the LPV control framework, this is done by introducing fault-specific scheduling parameters. The baseline controller is designed to provide an acceptable performance level along all fault scenarios coded in these scheduling variables. The decision on which reconfiguration level has to be initiated in response to a fault is determined by a supervisor unit. The method is demonstrated on a full six-degrees-of-freedom nonlinear simulation model of the GTM UAV.

Fault‐tolerant reference generation for model predictive control with active diagnosis of elevator jamming faults

“…In general, the MPC controller solves Problem (7) online from the plant and returns an optimal sequence of states and control inputs that minimizes the cost (7a). Let the optimal sequence be defined as follows: Only the first element of u is implemented in closed loop, that is, the control law obtained using the MPC controller is given by…”

“…1 FTC systems have been largely investigated in the context of flight control, taking into account the occurrence of faults on sensors and actuators. [2][3][4][5][6][7][8][9] In this work, we focus on faults that can occur on the aircraft actuators (ie, actuator jamming faults). Actuator jamming faults have long been investigated in the field of fault-tolerant flight control (see, eg, other works 3,8,10,11 ).…”

Simultaneous Disturbance Compensation and H1/H∞ Optimization In Fault Detection Of UAVs

“…According to the coupling of different motions, the equations to describe the dynamic/kinetic of UAV can be grouped into the longitudinal model and the lateral model. This decoupling is widely adopted and results in an easier system analysis and controller/observer design (see Rosa and Silvestre, 2013;Hajiyev, 2013;Freeman et al, 2013;Caliskan et al, 2014;Péni et al, 2015). In this study, FDF design for the longitudinal UAV model is considered.…”

“…UAVs are widely used in both civilian and military applications such as geological exploration, traffic monitoring, border patrol, surveillance and reconnaissance assignments. Because of the economic benefits of UAVs and the key roles they play in modern military applications, tremendous research effort is paid to UAV related techniques (see Cho et al, 2011;Péni et al, 2015;Pereira et al, 2017;Nicotra et al, 2017). In most applications of UAVs, the reliability and survivability are of essential interest and have drawn * Corresponding author significant attention to FDI techniques.…”

Reducing the mast vibration of single-mast stacker cranes by gain-scheduled control

“…Hoffmann and Werner (2015b) give a detailed summary of LPV control design methods and their application areas. Further interesting applications of LPV modeling and control can be found in the papers or Hassanabadi et al (2016), Hoffmann and Werner (2015a) or Péni et al (2015).…”