<abstract xmlns="http://www.w3.org/1999/xhtml"><p> 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.</p></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.

Supervisory Fault Tolerant Control of the GTM UAV Using LPV Methods

Institute for Systems and Control Hungarian Academy of Sciences, Kende u. 13.-17., Budapest H-1111, Hungary

Institute for Systems and Control Hungarian Academy of Sciences, Kende u. 13.–17., Budapest H-1111, Hungary

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Supervisory Fault Tolerant Control of the GTM UAV Using LPV Methods"}

A multi-level reconfiguration framework is proposed for fault tolerant control of over-actuated aerial vehicles, where the levels indicate how much authority...

Supervisory Fault Tolerant Control of the GTM UAV Using LPV Methods

Published Online: Mar 25, 2015

Page range: 117 - 131

Received: Jan 31, 2014

DOI: https://doi.org/10.1515/amcs-2015-0009

© by Tamás Péni

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.