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

Abstract : 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.
Type de document :
Communication dans un congrès
IFAC InternationaI Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS), Sep 2015, Paris, France. In Proceedings of the IFAC Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS), pp.392 - 397
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Contributeur : Guillaume Ducard <>
Soumis le : mardi 12 avril 2016 - 17:56:16
Dernière modification le : vendredi 9 septembre 2016 - 11:53:45

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  • HAL Id : hal-01301756, version 1

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Rudin Konrad, Mosimann Lukas, Guillaume Ducard, Roland 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. In Proceedings of the IFAC Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS), pp.392 - 397. 〈hal-01301756〉

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