Fault-tolerant control strategy for actuator faults using LPV techniques: Application to a two degree of freedom helicopter

摘要

In this paper, a Fault Tolerant Control (FTC) strategy for Linear Parameter Varying (LPV) systems that can be used in\udthe case of actuator faults is proposed. The idea of this FTC method is to adapt the faulty plant instead of adapting the\udcontroller to the faulty plant. This approach can be seen as a kind of virtual actuator. An integrated FTC design procedure\udfor the fault identification and fault-tolerant control schemes using LPV techniques is provided as well. Fault identification\udis based on the use of an Unknown Input Observer (UIO). The FTC controller is implemented as a state feedback controller\udand designed using polytopic LPV techniques and Linear Matrix Inequality (LMI) regions in such a way as to guarantee\udthe closed-loop behavior in terms of several LMI constraints. To assess the performance of the proposed approach, a two\uddegree of freedom helicopter is used.