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2 International Journal of Applied Mathematics and Computer Science

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Health-aware and fault-tolerant control of an octorotor UAV system based on actuator reliability

Salazar Jean Carlo, Sanjuan Adrián, Nejjari Fatiha, Sarrate Ramon

International Journal of Applied Mathematics and Computer Science

2020

Vol. 30, no. 1

47--59

A major goal in modern flight control systems is the need for improving reliability. This work presents a health-aware and fault-tolerant control approach for an octorotor UAV that allows distributing the control effort among the available actuators based on their health information. However, it is worth mentioning that, in the case of actuator fault occurrence, a reliability improvement can come into conflict with UAV controllability. Therefore, system reliability sensitivity is redefined and modified to prevent uncontrollable situations during the UAV’s mission. The priority given to each actuator is related to its importance in system reliability. Moreover, the proposed approach can reconfigure the controller to compensate actuator faults and improve the overall system reliability or delay maintenance tasks.

An LMI-based heuristic algorithm for vertex reduction in LPV systems

Sanjuan Adrián, Rotondo Damiano, Nejjari Fatiha, Sarrate Ramon

International Journal of Applied Mathematics and Computer Science

2019

Vol. 29, no. 4

725--737

The linear parameter varying (LPV) approach has proved to be suitable for controlling many non-linear systems. However, for those which are highly non-linear and complex, the number of scheduling variables increases rapidly. This fact makes the LPV controller implementation not feasible for many real systems due to memory constraints and computational burden. This paper considers the problem of reducing the total number of LPV controller gains by determining a heuristic methodology that combines two vertices of a polytopic LPV model such that the same gain can be used in both vertices. The proposed algorithm, based on the use of the Gershgorin circles, provides a combinability ranking for the different vertex pairs, which helps in solving the reduction problem in fewer attempts. Simulation examples are provided in order to illustrate the main characteristics of the proposed approach.