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Paper details
Number 1 - March 2015
Volume 25 - 2015
Supervisory fault tolerant control of the GTM UAV using LPV methods
Tamás Péni, Bálint Vanek, Zoltán Szabó, József Bokor
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.
Keywords
fault tolerant control, linear parameter-varying systems, supervisory architecture, flight control