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.


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    Title :

    Fault Tolerant Control for the Quadrotor Attitude Using a SOS Approach


    Contributors:


    Publication date :

    2018-08-01


    Size :

    195282 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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