Fault tolerant tracking control of Unmanned Aerial Vehicle using Linear Quadratic Gaussian with integral reconfiguration control

摘要

This paper presents a control algorithm for tracking an Unmanned Aerial Vehicle (UAV) in the presence of actuator faults. The main idea is to first apply an observer based residual generation to detect and isolate the fault. Consequently the tracking is achieved by employing a Linear Quadratic Gaussian (LQG) with an integral control as the reconfiguration controller. To show the effectiveness of the proposed scheme simulations have been carried out using lateral directional model of Aerosonde UAV subject to abrupt, incipient and intermittent faults while tracking constant reference signal.