Abstract
This paper addresses the aerodynamic modeling, observer-based state-feedback robust control and sensor fault detection for a laboratory ducted coaxial-rotor UAV (DCUAV). First, by introducing the main model elements of this novel unmanned vehicle, the detailed nonlinear mathematical model of the hovering flight UAV is presented. Second, through introducing a weighting matrix and a new form of change-of-variables, a new method is proposed by designing two different systems simultaneously as detector and controller. An observer-based controller is proposed to achieve the control objective and finite-frequency sensor fault detection objective simultaneously. The observer-based controller design method is derived from a new formulation of linear matrix inequality (LMI), which can achieve the prescribed H ∞ performance, H - performance and the stability of the closed-loop system. By constructing a new matrix decomposition form, the simultaneous design of detector parameters and controller parameters is solved. Finally, simulations are conducted for the hover flight with disturbances and sensor faults, the results show the satisfactory control performance and fault detection performance.
Highlights
In recent decades, the development of unmanned aerial vehicles covers a wide range of sizes and capabilities [1]–[4], which has attracted increased interest in developing control algorithms and fault detection methods
Simultaneous control and sensor fault detection problem is considered, by introducing a new linear change-of-variables, the observer-based controller design conditions can convert into convex optimization problem with linear matrix inequalities
This paper presented a solution to the simultaneous control and sensor fault detection problem for the ducted coaxial-rotor UAV in the presence of unknown disturbance and system uncertainties
Summary
The development of unmanned aerial vehicles covers a wide range of sizes and capabilities [1]–[4], which has attracted increased interest in developing control algorithms and fault detection methods. Various control and detection approaches of the ducted fan aircrafts, coaxial-rotor aircrafts and other types of UAVs, have been developed to achieve flight performances and fault detection objective. The sensor faults usually emerge in low-frequency domain in our DCUAV flight practice, which is one of the main causes of aircraft system instability and poor flight performance This motivates the problem of integrated control and fault detection that has attracted significant attention in recent years. Motivated by the aforementioned analysis, a new DCUAV integrated control and sensor fault detection methodology considering the system model uncertainties is introduced based on H∞ theory, H− index performance and finite-frequency index performance. Simultaneous control and sensor fault detection problem is considered, by introducing a new linear change-of-variables, the observer-based controller design conditions can convert into convex optimization problem with linear matrix inequalities.
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