- Tytuł:
- Supervisory fault tolerant control of the GTM UAV using LPV methods
- Autorzy:
-
Péni, T.
Vanek, B.
Szabó, Z.
Bokor, J. - Powiązania:
- https://bibliotekanauki.pl/articles/330070.pdf
- Data publikacji:
- 2015
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
fault tolerant control
linear parameter varying systems
supervisory architecture
flight control
sterowanie tolerujące uszkodzenia
układ liniowy niestacjonarny
sterowanie lotem - Opis:
- A multi-level reconfiguration framework is proposed for fault tolerant control of over-actuated aerial vehicles, where the levels indicate how much authority is given to the reconfiguration task. On the lowest, first level the fault is accommodated by modifying only the actuator/sensor configuration, so the fault remains hidden from the baseline controller. A dynamic reallocation scheme is applied on this level. The allocation mechanism exploits the actuator/sensor redundancy available on the aircraft. When the fault cannot be managed at the actuator/sensor level, the reconfiguration process has access to the baseline controller. Based on the LPV control framework, this is done by introducing fault-specific scheduling parameters. The baseline controller is designed to provide an acceptable performance level along all fault scenarios coded in these scheduling variables. The decision on which reconfiguration level has to be initiated in response to a fault is determined by a supervisor unit. The method is demonstrated on a full six-degrees-of-freedom nonlinear simulation model of the GTM UAV.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2015, 25, 1; 117-131
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł