Robust quasi-LPV model reference FTC of a quadrotor UAV subject to actuator faults

• Autorzy: Rotondo D. , Nejjari F. , Puig V.

Identyfikatory

DOI

10.1515/amcs-2015-0001

• Języki publikacji: EN

Abstrakty

EN

A solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV) polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI) systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs) in order to achieve regional pole placement and H∞ norm bounding constraints. Simulation results are used to compare the different FTC strategies.

Słowa kluczowe

EN

linear parameter varying systems; fault tolerant control; quadrotor; model reference based control; linear matrix inequalities

PL

układ liniowy niestacjonarny; sterowanie tolerujące uszkodzenia; liniowe nierówności macierzowe

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2015
• Tom: Vol. 25, no. 1
• Strony: 7--22
• Opis fizyczny: Bibliogr. 57 poz., rys., tab., wykr.

Twórcy

autor

Rotondo D.

• Automatic Control Department, Polytechnic University of Catalonia (UPC), Rambla de Sant Nebridi, 11, 08222 Terrassa, Spain

autor

Nejjari F.

• Automatic Control Department, Polytechnic University of Catalonia (UPC), Rambla de Sant Nebridi, 11, 08222 Terrassa, Spain

autor

Puig V.

• Automatic Control Department, Polytechnic University of Catalonia (UPC), Rambla de Sant Nebridi, 11, 08222 Terrassa, Spain; Institute of Robotics and Industrial Informatics, UPC-CSIC, Carrer de Llorens i Artigas, 4-6, 08028 Barcelona, Spain

Bibliografia

• [1] Abdullah, A. and Zribi, M. (2009). Model reference control of LPV systems, Journal of the Franklin Institute 346(9): 854–871.
• [2] Aguilar-Sierra, H., Flores, G., Salazar, S. and Lozano, R. (2014). Fault estimation for a quad-rotor MAV using a polynomial observer, Journal of Intelligent and Robotic Systems 73(1–4): 455–468.
• [3] Amoozgar, M., Chamseddine, A. and Zhang, Y. (2012). Fault-tolerant fuzzy gain-scheduled PID for a quadrotor helicopter testbed in the presence of actuator faults, Proceedings of the IFAC Conference on Advances in PID Control, Brescia, Italy, pp. 1–6.
• [4] Apkarian, P., Gahinet, P. and Becker, G. (1995). Self-scheduled H∞ control of linear parameter-varying systems: A design example, Automatica 31(9): 1251–1261.
• [5] Aranjo-Estrada, S., Liceaga-Castro, E. and Rodríguez-Cortés, H. (2009). Nonlinear motion control of a rotary wing vehicle powered by four rotors, Revista Ingeniería, Investigación y Tecnología 10(4): 373–383.
• [6] Benosman, M. (2010). A survey of some recent results on nonlinear fault tolerant control, Mathematical Problems in Engineering: 1–25, Article ID 586169, DOI: 10.1155/2010/586169.
• [7] Bouabdallah, S., Murrieri, P. and Siegwart, R. (2004). Design and control of an indoor micro quadrotor, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA, USA, pp. 4393–4398.
• [8] Bresciani, T. (2008). Modelling, Identification and Control of a Quadrotor Helicopter, Master’s thesis, Lund University, Lund.
• [9] Budiyono, A. and Sutarto, H. (2006). Linear parameter varying model identification for control of rotorcraft-based UAV, Proceedings of the 5th Taiwan-Indonesia Workshop on Aeronautical Science, Technology and Industry, Tainan, Taiwan, pp. 1–6.
• [10] Castillo, P., Lozano, R. and Dzul, A. (2005). Stabilization of a mini rotorcraft with four rotors, IEEE Control Systems Magazine 25: 45–55.
• [11] Cen, Z., Noura, H., Susilo, T.B. and Al Younes, Y. (2014). Robust fault diagnosis for quadrotor UAVs using adaptive Thau observer, Journal of Intelligent and Robotic Systems 73(1–4): 573–588.
• [12] Chamseddine, A., Sadeghzadeh, I., Zhang, Y. and Theilliol, D. (2012). Control allocation and re-allocation for a modified quadrotor helicopter against actuator faults, Proceedings of the 8th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), Mexico City, Mexico, pp. 247–252.
• [13] Chamseddine, A., Zhang, Y., Rabbath, C., Fulford, C. and Apkarian, J. (2011). Model reference adaptive fault tolerant control of a quadrotor UAV, Proceedings of the AIAA Infotech Aerospace, St. Louis, MO, USA.
• [14] Chilali, M. and Gahinet, P. (1996). H∞ design with pole placement constraints: An LMI approach, IEEE Transactions on Automatic Control 41(3): 358–367.
• [15] Chowdhary, G., Frazzoli, E., How, J. and Liu, H. (2014). Nonlinear flight control techniques for unmanned aerial vehicles, in K.P. Valavanis and G.J. Vachtsevanos (Eds.), Handbook of Unmanned Aerial Vehicles, Springer, Houten.
• [16] Coleman, T., Branch, M.A. and Grace, A. (1999). Optimization Toolbox User’s Guide, The Mathworks, Inc., Natick, MA.
• [17] Dydek, Z., Annaswamy, A. and Lavretsky, E. (2010a). Adaptive control of quadrotor UAVs in the presence of actuator uncertainties, Proceedings of the AIAA Infotech Aerospace, Atlanta, GA, USA, pp. 1–9.
• [18] Dydek, Z., Annaswamy, A. and Lavretsky, E. (2010b). Combined/composite adaptive control of a quadrotor UAV in the presence of actuator uncertainty, Proceedings of the AIAA Guidance, Navigation and Control Conference, Toronto, ON, Canada, pp. 1–10.
• [19] Freddi, A., Lanzon, A. and Longhi, S. (2011). A feedback linearization approach to fault tolerance in quadrotor vehicles, Proceedings of the 18th IFAC World Congress, Milan, Italy, pp. 5413–5418.
• [20] Ghersin, A.S. and Sanchez-Peña, R.S. (2002). LPV control of a 6 DOF vehicle, IEEE Transactions on Control Systems Technology 10(6): 883–887.
• [21] Guenard, N., Hamel, T. and Mahony, R. (2008). A practical visual servo control for an unmanned aerial vehicle, IEEE Transactions on Robotics 24(2): 331–340.
• [22] Guerrero-Castellano, J.F., Téllez-Guzmán, J.J., Durand, S., Marchand, N., Alvarez-Muñoz, J.U. and González-Díaz, V.R. (2013). Attitude stabilization of a quadrotor by means of event-triggered nonlinear control, Journal of Intelligent and Robotic Systems 73(1–4): 123–135.
• [23] Hoffmann, G. and Waslander, S. (2008). Quadrotor helicopter trajectory tracking control, Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, HI, USA, pp. 1–14.
• [24] Horn, R.A. and Johnson, C.R. (1990). Matrix Analysis, Cambridge University Press, Cambridge.
• [25] Izadi, H., Gordon, B. and Zhang, Y. (2010). A data-driven fault tolerant model predictive control with fault identification, Proceedings of the 1st Conference on Control and Fault-Tolerant Systems (SYSTOL), Nice, France, pp. 732–737.
• [26] Izadi, H., Zhang, Y. and Gordon, B. (2011). Fault tolerant model predictive control of quad-rotor helicopters with actuator fault estimation, Proceedings of the 18th IFAC World Congress, Milan, Italy, pp. 6343–6348.
• [27] Jiang, J. and Yu, X. (2012). Fault-tolerant control systems: A comparative study between active and passive approaches, Annual Reviews in Control 36(1): 60–72.
• [28] Khebbache, H., Sait, B., Bounar, N. and Yacef, F. (2012). Robust stabilization of a quadrotor UAV in presence of actuator and sensor faults, International Journal of Instrumentation and Control Systems 2(2): 53–67.
• [29] Kwiatkowski, A., Boll, M.-T. and Werner, H. (2006). Automated generation and assessment of affine LPV models, Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, USA, pp. 6690–6695.
• [30] Landau, Y.D. (1979). Adaptive Control—The Model Reference Approach, Marcel Dekker, New York, NY.
• [31] Li, T., Zhang, Y. and Gordon, B. (2013). Passive and active nonlinear fault-tolerant control of a quadrotor UAV based on sliding mode control technique, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 227(1): 12–23.
• [32] Maki, M., Jiang, J. and Hagino, K. (2004). A stability guaranteed active fault-tolerant control system against actuator failures, International Journal of Robust and Nonlinear Control 14(12): 1061–1077.
• [33] Merheb, A.-R., Noura, H. and Bateman, F. (2013). Passive fault tolerant control of quadrotor UAV using regular and cascaded sliding mode control, Proceedings of the 2nd Conference on Control and Fault-Tolerant Systems (SYSTOL), Nice, France, pp. 330–335.
• [34] Milhim, A., Zhang, Y. and Rabbath, C. (2010). Gain scheduling based PID controller for fault tolerant control of a quadrotor UAV, Proceedings of AIAA Infotech Aerospace, Atlanta, GA, USA, pp. 1–13.
• [35] Mokhtari, A. and Benallegue, A. (2004). Dynamic feedback controller of Euler angles and wind parameter estimation for a quadrotor unmanned aerial vehicle, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA, USA, pp. 2359–2366.
• [36] Raffo, G.V., Ortega, M.G. and Rubio, F.R. (2010). An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter, Automatica 46(1): 29–39.
• [37] Rangajeeva, S. and Whidborne, J. (2011). Linear parameter varying control of a quadrotor, Proceedings of the 6th International Conference on Industrial and Information Systems (ICIIS), Kandy, Sri Lanka, pp. 483–488.
• [38] Rotondo, D., Nejjari, F. and Puig, V. (2012). Fault estimation and virtual actuator FTC approach for LPV systems, Proceedings of the 8th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), Mexico City, Mexico, pp. 824–829.
• [39] Rotondo, D., Nejjari, F. and Puig, V. (2013a). Fault tolerant control design for polytopic uncertain LPV systems, Proceedings of the 21st Mediterranean Conference on Control and Automation, Platanias-Chania, Crete, Greece, pp. 66–72.
• [40] Rotondo, D., Nejjari, F. and Puig, V. (2013b). Passive and active FTC comparison for polytopic LPV systems, Proceedings of the 12th European Control Conference, Zurich, Switzerland, pp. 2951–2956.
• [41] Rotondo, D., Nejjari, F., Torren, A. and Puig, V. (2013c). Fault tolerant control design for polytopic uncertain LPV systems: Application to a quadrotor, Proceedings of the 2nd Conference on Control and Fault-Tolerant Systems (SYSTOL), Nice, France, pp. 643–648.
• [42] Rotondo, D., Nejjari, F. and Puig, V. (2014). Model reference quasi-LPV control of a quadrotor UAV, IEEE Multiconference on Systems and Control, Antibes, France, pp. 736–741.
• [43] Sadeghzadeh, I., Mehta, A. and Zhang, Y. (2011a). Fault/damage tolerant control of a quadrotor helicopter UAV using model reference adaptive control and gain-scheduled PID, Proceedings of the AIAA Guidance, Navigation and Control Conference, Portland, OR, USA.
• [44] Sadeghzadeh, I., Mehta, A., Zhang, Y. and Rabbath, C. (2011b). Fault-tolerant trajectory tracking control of a quadrotor helicopter using gain-scheduled PID and model reference adaptive control, Proceedings of the Annual Conference of the Prognostics and Health Management Society, Montreal, QC, Canada, pp. 1–10.
• [45] Serirojanakul, A. and Wongaisuwan, M. (2012). Optimal control of quad-rotor helicopter using state feedback LPV method, Proceedings of the 9th International Conference on Electrical Engineering/Electronics, Computer Telecommunications and Information Technology (ECTI-CON), Hua Hin, Thailand, pp. 1–4.
• [46] Shamma, J.S. (2012). An overview of LPV systems, in J. Mohammadpour and C. Scherer (Eds.), Control of Linear Parameter Varying Systems with Applications, Springer, New York, NY, pp. 3–26.
• [47] Sharifi, F., Mirzaei, M., Gordon, B. and Zhang, Y. (2010). Fault tolerant control of a quadrotor UAV using sliding mode control, Proceedings of the 1st Conference on Control and Fault-Tolerant Systems (SYSTOL), Nice, France, pp. 239–244.
• [48] Staroswiecki, M., Berdjag, D., Jiang, B. and Zhang, K. (2009). PACT: A passive/active approach to fault tolerant stability under actuator outages, Proceedings of the Joint 48th IEEE Conference on Decision and Control and the 28th Chinese Control Conference, Shanghai, China, pp. 7819–7824.
• [49] Staroswiecki, M., Zhang, K., Berdjag, D. and Abbas-Turki, M. (2012). Reducing the reliability over-cost in reconfiguration-based fault tolerant control under actuator faults, IEEE Transactions on Automatic Control 57(12): 3181–3186.
• [50] Yu, B., Zhang, Y., Minchala, I. and Qu, Y. (2013). Fault-tolerant control with linear quadratic and model predictive control techniques against actuator faults in a quadrotor UAV, Proceedings of the 2nd Conference on Control and Fault-Tolerant Systems (SYSTOL), Nice, France, pp. 661–666.
• [51] Yu, X. and Jiang, J. (2012). Hybrid fault-tolerant flight control system design against partial actuator failures, IEEE Transactions on Control Systems Technology 20(4): 871–886.
• [52] Zhang, X. and Zhang, Y. (2010). Fault tolerant control for quadrotor UAV by employing Lyapunov-based adaptive control approach, Proceedings of the AIAA Guidance, Navigation and Control Conference, Toronto, ON, Canada.
• [53] Zhang, X., Zhang, Y., Su, C.-Y. and Feng, Y. (2010). Fault-tolerant control for quad-rotor UAV via backstepping approach, Proceedings of the 48th AIAA Aerospace Sciences Meeting, Orlando, FL, USA.
• [54] Zhang, Y. and Jiang, J. (2008). Bibliographical review on reconfigurable fault-tolerant control systems, Annual Reviews in Control 32(2): 229–252.
• [55] Zhang, Y. M., Chamseddine, A., Rabbath, C. A., Gordon, B. W., Su, C.-Y., Rakheja, S., Fulford, C., Apkarian, J. and Gosselin, P. (2013). Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed, Journal of the Franklin Institute 350(9): 2396–2422.
• [56] Zhaohui, C. and Noura, H. (2013). A composite fault tolerant control based on fault estimation for quadrotor UAVs, Proceedings of the 8th IEEE Conference on Industrial Electronics and Applications (ICIEA), Melbourne, Australia, pp. 236–241.
• [57] Zhou, Q.-L., Zhang, Y., Rabbath, C. and Theilliol, D. (2010). Design of feedback linearization control and reconfigurable control allocation with application to quadrotor UAV, Proceedings of the 1st Conference on Control and Fault-Tolerant Systems (SYSTOL), Nice, France, pp. 371–376.