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Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2016

LPV model-based tracking control and robust sensor fault diagnosis for a quadrotor UAV

Résumé

This work is dedicated to the design of a robust fault detection and tracking controller system for a UAV subject to external disturbances. First, a quadrotor modelled as a Linear Parameter Varying (LPV) system is considered as a target to design and to illustrate the proposed methodologies. In order to perform fault detection and isolation, a robust LPV observer is designed. Sufficient conditions to guarantee asymptotic stability and robustness against disturbance are given by a set of feasible Linear Matrix Inequalities (LMIs). Furthermore, the observer gains are designed with a desired dynamic by considering pole placement based on LMI regions. Then, a fault detection and isolation scheme is considered by mean of an observer bank in order to detect and isolate sensor faults. Second, a feedback controller is designed by considering a comparator integrator control scheme. The goal is to design a robust controller, such that the UAV tracks some reference positions. Finally, some simulations in fault-free and faulty operations are considered on the quadrotor system.
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Dates et versions

hal-01242653 , version 1 (13-12-2015)

Identifiants

Citer

Francisco-Ronay López-Estrada, Jean-Christophe Ponsart, Didier Theilliol, Youmin Zhang, Carlos Manuel Astorga Zaragoza. LPV model-based tracking control and robust sensor fault diagnosis for a quadrotor UAV. Journal of Intelligent and Robotic Systems, 2016, 84 (1), pp.163-177. ⟨10.1007/s10846-015-0295-y⟩. ⟨hal-01242653⟩
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