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Communication Dans Un Congrès Année : 2015

Robust Actuator Fault-tolerant Control using DK-Iteration: Theory and Application to UAS

Résumé

This paper proposes a fault-tolerant control (FTC) approach for unknown actuator faults based on robust control theory. The mu-analysis is used to infer closed-loop stability against different actuator faults. Further, an adapted DK-iteration approach is used to compute a guaranteed robustly stable FTC, given an actuator redundant system. The performance of the new control approach is verified in simulation with a flight of a fixed-wing unmanned aerial system (UAS) and compared against a classical hierarchical PID controller for different fault scenarios. Finally, the algorithm is verified in a real-flight experiment with an UAS.
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Dates et versions

hal-01301756 , version 1 (12-04-2016)

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  • HAL Id : hal-01301756 , version 1

Citer

Rudin Konrad, Mosimann Lukas, Guillaume Ducard, Roland Y. Siegwart. Robust Actuator Fault-tolerant Control using DK-Iteration: Theory and Application to UAS. IFAC InternationaI Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS), Sep 2015, Paris, France. pp.392 - 397. ⟨hal-01301756⟩
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