Asynchronous switched LPV control for quad-tilt rotor UAVs against actuator faults and persistent external disturbances

An asynchronous switched linear parameter-varying (LPV) fault-tolerant control method is proposed for quad-tilt rotor UAVs to address actuator faults and persistent external disturbances. The nonlinear longitudinal dynamics of quad-tilt rotor UAVs with both abrupt and time-varying actuator faults are converted to a switched LPV system. A group of LPV controllers are designed, and each of them is adaptable to a specific subspace of parameters. Closed-loop stability and ℒ
∞
disturbance attenuation performance of the underlying switched LPV system are analyzed using multiple parameter-dependent Lyapunov functions and the persistent dwell-time technique, where delays in the detection of actuator failure are taken into account. Numerical results demonstrate the effectiveness of the proposed switched LPV fault-tolerant control scheme.