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2015 | 25 | 1 | 117-131
Tytuł artykułu

Supervisory fault tolerant control of the GTM UAV using LPV methods

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
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.
Rocznik
Tom
25
Numer
1
Strony
117-131
Opis fizyczny
Daty
wydano
2015
otrzymano
2014-01-31
poprawiono
2014-09-24
Twórcy
autor
  • 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
  • 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
Bibliografia
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  • Edwards, C., Alwi, H. and Tan, C.P. (2012). Sliding mode methods for fault detection and fault tolerant control with application to aerospace systems, International Journal of Applied Mathematics and Computer Science 22(1): 109-124, DOI: 10.2478/v10006-012-0008-7.
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  • Peni, T., Vanek, B., Szabo, Z., Gaspar, P. and Bokor, J. (2013). Supervisory fault tolerant control of the GTM UAV using LPV methods, International Conference on Control and Fault-Tolerant Systems (SysTol), Nice, France, pp. 655-660.
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Typ dokumentu
Bibliografia
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