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Fault-Tolerant Control design using LPV Admissible Model Matching with H2/H performance: Application to a two-degree of freedom helicopter

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4 Author(s)
Saύl Montes de Oca ; Advanced Control Systems Research Group at the Automatic Control Department of Technical University of Catalonia (UPC), Pau Gargallo, 5, 08028 Barcelona, Spain ; Vicenç Puig ; Didier Theilliol ; Sebastian Tornil-Sin

In this paper, an approach to design an Admissible Model Matching (AMM) Fault Tolerant Control (FTC) based on Linear Parameter Varying (LPV) techniques is proposed. The main contribution of the proposed approach consists in the on-line reconfiguration of the controller based on the use of LPV gain-scheduling techniques that allow to take into account changes in the system parameters due to changes in the operating point and faults. The proposed strategy is an active FTC strategy that requires the fault to be detected, isolated and estimated by the FDI scheme. The formulation of AMM is based on establishing a set of admissible behaviors by specifying the region where the closed-loop should lie through LMIs. To select the best controller, the notion of quadratic H2/H performance is used in the FTC design. The effectiveness and performance of proposed approach have been illustrated using a two degree of freedom helicopter.

Published in:

2010 Conference on Control and Fault-Tolerant Systems (SysTol)

Date of Conference:

6-8 Oct. 2010