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

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. (CC BY-NC-ND 3.0).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.This work has been funded by the Spanish MINECO through the project CICYT SHERECS (ref. DPI2011-26243), by the European Commission through the contract i-Sense (ref. FP7-ICT-2009-6-270428), by AGAUR through the contracts FI-DGR 2013 (ref. 2013FIB00218) and FI-DGR 2014 (ref. 2014FI_ B1 00172), and by the DGR of Generalitat de Catalunya (SAC group ref. 2014/SGR/374).Peer Reviewe