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Conference papers
Robust Sensor Fault Estimation for LPV systems: Application to Quadrotor UAV
Abstract : his work is dedicated to handling the problem of quadrotor sensors fault diagnosis where the vehicle model is expressed in an LPV framework and accompanied by a robust self-scheduled LPV controller which minimizes the quadratic performance H∞ norm. Afterward, a new observer scheme including a virtual residual signal beside an auxiliary output is introduced to achieve quadrotor sensor fault estimation and isolation. Through the synthesis of such an observer gains assignment, some structural conditions are discussed to guarantee exact or at least asymptotic convergence of the residual to the fault followed by an enhanced H-H∞ approach when the decoupling conditions are not satisfied. Finally, the efficiency of the developed approach in fault estimation is demonstrated by applying it in simulation on a quadrotor UAV subjected to sensor faults.
https://hal-univ-evry.archives-ouvertes.fr/hal-03590420
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Sunday, February 27, 2022 - 2:55:19 PM
Last modification on : Tuesday, March 1, 2022 - 3:25:58 AM
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Sunday, February 27, 2022 - 2:55:19 PM
Last modification on : Tuesday, March 1, 2022 - 3:25:58 AM
