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LPV Model-Based Tracking Control and Robust Sensor Fault Diagnosis for a Quadrotor UAV

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Abstract

This work is dedicated to the design of a robust fault detection and tracking controller system for a UAV subject to external disturbances. First, a quadrotor modelled as a Linear Parameter Varying (LPV) system is considered as a target to design and to illustrate the proposed methodologies. In order to perform fault detection and isolation, a robust LPV observer is designed. Sufficient conditions to guarantee asymptotic stability and robustness against disturbance are given by a set of feasible Linear Matrix Inequalities (LMIs). Furthermore, the observer gains are designed with a desired dynamic by considering pole placement based on LMI regions. Then, a fault detection and isolation scheme is considered by mean of an observer bank in order to detect and isolate sensor faults. Second, a feedback controller is designed by considering a comparator integrator control scheme. The goal is to design a robust controller, such that the UAV tracks some reference positions. Finally, some simulations in fault-free and faulty operations are considered on the quadrotor system.

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Authors and Affiliations

  1. Electronic Department, Tecnológico Nacional de México, Instituto Tecnológico de Tuxtla Gutiérrez, Carretera Panamericana km 1080, Terán, CP 29050, Tuxtla Gutiérrez, Chiapas, Mexico

    Francisco Ronay López-Estrada

  2. University of Lorraine, CRAN, CNRS UMR 7039, Campus Sciences, B.P. 70239, 54506, Vandoeuvre-les-Nancy Cedex, France

    Jean-Christophe Ponsart & Didier Theilliol

  3. Concordia University, 1455 de Maisonneuve Blvd. W., Montreal, Quebec, H3G 1M8, Canada

    Youmin Zhang

  4. Tecnológico Nacional de México, Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Internado Palmira s/n, Col. Palmira, CP 62490, Cuernavaca, Mor., Mexico

    Carlos-Manuel Astorga-Zaragoza

Authors
  1. Francisco Ronay López-Estrada
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  2. Jean-Christophe Ponsart
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  3. Didier Theilliol
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  4. Youmin Zhang
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  5. Carlos-Manuel Astorga-Zaragoza
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Correspondence to Jean-Christophe Ponsart.

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López-Estrada, F.R., Ponsart, JC., Theilliol, D. et al. LPV Model-Based Tracking Control and Robust Sensor Fault Diagnosis for a Quadrotor UAV. J Intell Robot Syst 84, 163–177 (2016). https://doi.org/10.1007/s10846-015-0295-y

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  • DOI: https://doi.org/10.1007/s10846-015-0295-y

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