This paper addresses the nonlinear $\mathrm{H}_{\infty}$ fault tolerant control (FTC) problem for a quadrotor unmanned aerial vehicle (UAV), with convex polytopic faults in motors. Based on Rodrigues parameter description, the attitude dynamic of the quadrotor is modeled in a state dependent linear-like form. By using Lyapunov stability and positive polynomial theories, the sufficient conditions for stabilization with and without $\mathrm{H}_{\infty}$ performance of the UAV system are formulated in terms of state-dependent linear matrix inequalities which can be verified by sostools in MATLAB. Numerical simulation results show the effectiveness in accommodating loss of motor effectiveness.
Fault Tolerant Control for the Quadrotor Attitude Using a SOS Approach
01.08.2018
195282 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Fault tolerant control of a quadrotor using ℒ1 adaptive control
Emerald Group Publishing | 2016
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