Robust Quasi–LPV Model Reference FTC of a Quadrotor Uav Subject to Actuator Faults

• Published in: International journal of applied mathematics and computer science Vol. 25; no. 1; pp. 7 - 22
• Main Authors: Rotondo, Damiano, Nejjari, Fatiha, Puig, Vicenç
• Format: Journal Article Publication
• Language: English
• Published: Zielona Góra De Gruyter Open 01.03.2015; De Gruyter Poland; Sciendo
• Subjects: Active control; Automàtica i control; Computer simulation; Errors; Fault tolerance; Fault tolerance (Engineering); fault tolerant control; Informàtica; linear matrix inequalities; linear parameter varying systems; Mathematical models; model reference-based control; quadrotor; Rotorcraft; Tolerància als errors (Enginyeria); Trajectories; Unmanned aerial vehicles; Àrees temàtiques de la UPC

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 th...