Supervisory fault tolerant control of the GTM UAV using LPV methods

• Autorzy: Tamás Péni , Báltin Vanek , Zoltán Szabó , József Bakor
• 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.

Słowa kluczowe

EN

fault tolerant control; linear parameter-varying systems; supervisory architecture; flight control

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2015
• Tom: 25
• Numer: 1
• Strony: 117-131

Daty

wydano

2015

otrzymano

2014-01-31

poprawiono

2014-09-24

Twórcy

autor

Tamás Péni

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

autor

Báltin Vanek

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

autor

Zoltán Szabó

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

autor

József Bakor

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

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Identyfikatory

DOI

10.1515/amcs-2015-0009