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Active Fault-Tolerant Control of Unmanned Quadrotor Helicopter Using Linear Parameter Varying Technique

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Abstract

By adopting the linear parameter varying (LPV) control technique, this paper presents an active fault-tolerant control (FTC) strategy with application to unmanned quadrotor helicopter (UQH). Adverse effects from payload grasping and dropping caused variations of system dynamics as well as battery drainage induced loss of actuator effectiveness are expected to be counteracted in this study. First, the UQH is manipulated by a well designed baseline controller. In the presence of either payload grasping/dropping or battery drainage, their magnitudes are then obtained from a LPV-based fault detection and diagnosis (FDD) scheme. Next, based on the estimated values, a fault-tolerant tracking controller, which is linear parameter dependent, is devised in a convex polytopic LPV representation schedules to a new status in corresponding to the system variations, so that the negative impacts can be compensated. The parameters that change with system variations are specified as scheduling scalars for the LPV controller, while the ultimate control rule is obtainable by employing a set of well-established linear matrix inequality (LMI) conditions. Finally, both numerical simulations on a nonlinear model of UQH and experiments on a real UQH are conducted so as to testify the effectiveness of proposed methodology.

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Acknowledgment

The work reported in this paper is partially supported by NSERC, NNSFC #61573282, and SPNSF #2015JZ020.

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Authors and Affiliations

  1. Department of Mechanical and Industrial Engineering, Concordia University, 1455 de Maisonneuve Blvd. W., Montreal, QC, H3G 1M8, Canada

    Zhixiang Liu & Youmin Zhang

  2. Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi’an University of Technology, Xi’an, Shaanxi, 710048, China

    Chi Yuan

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  1. Zhixiang Liu
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Correspondence to Youmin Zhang.

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Liu, Z., Yuan, C. & Zhang, Y. Active Fault-Tolerant Control of Unmanned Quadrotor Helicopter Using Linear Parameter Varying Technique. J Intell Robot Syst 88, 415–436 (2017). https://doi.org/10.1007/s10846-017-0535-4

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