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Communication Dans Un Congrès Année : 2014

Robust sensor fault diagnosis and tracking controller for a UAV modelled as LPV system

Résumé

This work is dedicated to the robust fault detection and tracking problem for a UAV system with external disturbances. A quadrotor modelled as a Linear Parameter Varying system (LPV) is considered as a target to design and to illustrate recent advanced control methods. Firstly, the fault detection problem is addressed by considering the design of a robust fault detection observer with H∞ performance. The challenge is to attenuate external disturbances and a to generate useful residual signals to detect and isolate faults in sensors. Second, a feedback controller is designed by considering a comparator integrator control scheme to stabilize the system and to reach the tracking signal. In both cases the Lyapunov theory and ℒ2-gain technique are used to obtain sufficient stability conditions in LMIs (linear matrix inequalities) formulation. Finally, some simulations in fault-free and faulty cases are done on the quadrotor system.
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Dates et versions

hal-01059326 , version 1 (29-08-2014)

Identifiants

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Francisco-Ronay Lopez-Estrada, Jean-Christophe Ponsart, Didier Theilliol, Carlos Manuel Astorga Zaragoza, Youmin Zhang. Robust sensor fault diagnosis and tracking controller for a UAV modelled as LPV system. International Conference on Unmanned Aircraft Systems, ICUAS 2014, May 2014, Orlando, Floride, United States. pp.1311-1316, ⟨10.1109/ICUAS.2014.6842389⟩. ⟨hal-01059326⟩
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