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A solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are...
In this paper, a solution for the attitude/altitude tracking control problem is proposed for a quadrotor Unmanned Aerial Vehicle (UAV). The solution relies on the use of a reference model, where the resulting nonlinear error model is brought to a quasi-Linear Parameter Varying (LPV) form using the embedding in the parameters approach. The quasi-LPV model is suitable for designing a controller using...
This paper presents a Fault Tolerant Control (FTC) design for polytopic uncertain Linear Parameter-Varying (LPV) systems, applied to an aerospace application: a quadrotor. Depending on the information available about the fault, the FTC strategy could be passive FTC, active FTC without controller reconfiguration or active FTC with controller reconfiguration. The FTC strategy is designed taking into...
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