Robust actuator fault-tolerant control using DK-Iteration: Theory and application to UAS
- Conference Paper
Rights / licenseIn Copyright - Non-Commercial Use Permitted
This paper proposes a fault-tolerant control (FTC) approach for unknown actuator faults based on robust control theory. The µ-analysis is used to infer closed-loop stability against different actuator faults. Further, an adapted DK-iteration approach is used to compute a guaranteed robustly stable FTC, given an actuator redundant system. The performance of the new control approach is verified in simulation with a flight of a fixed-wing unmanned aerial system (UAS) and compared against a classical hierarchical PID controller for different fault scenarios. Finally, the algorithm is verified in a real-flight experiment with an UAS. Show more
Book title9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015. Proceedings
Journal / seriesIFAC-PapersOnLine
Pages / Article No.
SubjectFault tolerance; Actuator fault; Robust stability; Stability analysis; H-infinity optimization; Aircraft control
Organisational unit03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
285417 - Integrated Components for Assisted Rescue and Unmanned Search operations (EC)
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