Robust sensor fault diagnosis and tracking controller for a UAV modelled as LPV system

摘要

This work is dedicated to the robust fault detection and tracking problem for a UAV system with external disturbances. A quadrotor modelled as a Linear Parameter Varying system (LPV) is considered as a target to design and to illustrate recent advanced control methods. Firstly, the fault detection problem is addressed by considering the design of a robust fault detection observer with H∞ performance. The challenge is to attenuate external disturbances and a to generate useful residual signals to detect and isolate faults in sensors. Second, a feedback controller is designed by considering a comparator integrator control scheme to stabilize the system and to reach the tracking signal. In both cases the Lyapunov theory and L2-gain technique are used to obtain sufficient stability conditions in LMIs (linear matrix inequalities) formulation. Finally, some simulations in fault-free and faulty cases are done on the quadrotor system.