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In fault tolerant control, the damaged and healthy states of a sensor output or a control input are captured by using an uncertain parameter. For instance, the control input u(t) resulting from an actuator is modeled au(t) and the healthy and damaged conditions are inferred from a which takes the values σ=1 and σ in [0, 1), respectively [1-3]. Given a stabilizing controller, a range of σ-values in...
In this paper, we investigate the problem of fault tolerant for a group of multiple autonomous cooperative unmanned aerial vehicles (UAVs) during execution their mission in a desired geometrical pattern. A decentralized linear model predictive control (LMPC) is designed and implemented on a team of cooperative UAVs to achieve the desired formation in the absence of faults (normal/fault-free cases)...
This paper presents an active fault-tolerant control (FTC) design approach by virtue of an adaptive linear parameter varying (LPV) methodology. In this study, the magnitude of fault is obtained from the results of a fault detection and diagnosis (FDD) scheme. Based on the estimated fault magnitude, a fault-tolerant linear parameter dependent statefeedback controller in a convex polytopic LPV representation...
In this paper, Fault Diagnosis and Fault Tolerant Control algorithms are proposed to compensate for a bias type sensor fault applied on the quadrotor vehicle. A novel output estimator design called intelligent Output-Estimator (iOE) is introduced to detect and isolate the sensor fault. The estimation of the fault magnitude is done through a proposed structured algorithm that senses the maximum error...
This paper presents an active fault-tolerant control scheme for a quadrotor unmanned helicopter with velocity sensor faults. A two-level control scheme is designed to guarantee the trajectory following of the quadrotor when there are no faults. The control scheme consists of an external-loop Proportion Differentiation (PD) control law and an internal-loop Proportion Integration Differentiation (PID)...
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