Robust Actuator Fault Diagnosis for LPV systems: Application to Quadrotor
Abstract
This paper presents a new approach for residual generator design for LPV systems affected by actuator faults and exogenous perturbations. It is illustrated that under some structural conditions, the faults can be estimated exactly while the perturbations are completely decoupled from the residual signals. However, if exact convergence is not ensured, some relaxed conditions are provided to maintain asymptotic fault estimation. Finally, the worst-case where the perturbations cannot be decoupled is presented and handled using H\_/H approach. A general design procedure is also provided which unifies the cited different cases, then applied in simulation to a quadrotor model to illustrate the effectiveness of the proposed approach.