LPV Model-Based Tracking Control and Robust Sensor Fault Diagnosis for a Quadrotor UAV

• Published in: Journal of intelligent & robotic systems 2016-12, Vol.84 (1-4), p.163-177
• Main Authors: López-Estrada, Francisco Ronay, Ponsart, Jean-Christophe, Theilliol, Didier, Zhang, Youmin, Astorga-Zaragoza, Carlos-Manuel
• Format: Article
• Language: English
• Subjects: Artificial Intelligence; Automatic; Control; Controllers; Design engineering; Disturbances; Electrical Engineering; Engineering; Engineering Sciences; Fault detection; Mechanical Engineering; Mechatronics; Robotics; Robust control; Robustness; Rotorcraft; Sensors
• ISSN: 0921-0296; 1573-0409
• DOI: 10.1007/s10846-015-0295-y

This work is dedicated to the design of a robust fault detection and tracking controller system for a UAV subject to external disturbances. First, a quadrotor modelled as a Linear Parameter Varying (LPV) system is considered as a target to design and to illustrate the proposed methodologies. In order to perform fault detection and isolation, a robust LPV observer is designed. Sufficient conditions to guarantee asymptotic stability and robustness against disturbance are given by a set of feasible Linear Matrix Inequalities (LMIs). Furthermore, the observer gains are designed with a desired dynamic by considering pole placement based on LMI regions. Then, a fault detection and isolation scheme is considered by mean of an observer bank in order to detect and isolate sensor faults. Second, a feedback controller is designed by considering a comparator integrator control scheme. The goal is to design a robust controller, such that the UAV tracks some reference positions. Finally, some simulations in fault-free and faulty operations are considered on the quadrotor system.