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Robust Switching Recovery Control of a Quadcopter Aerial Vehicle Model

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posted on 2018-01-31, 15:40 authored by Hasan Basak
This thesis presents recovery control schemes that enable a quadcopter unmanned aerial vehicle (UAV) model to cope with a faulty actuation system. First, the computational aspects of the design of fixed-order H1 controllers are investigated along with the performance they provide for the quadcopter UAV. Double-loop control structures are developed to control the translational velocities of the UAV subject to two different intermittent actuation problems. Fixed-order H1 controllers are designed for the nominal and the faulty modes of operation. These closed-loop modes are modelled as a switched system for which stability is analysed using minimum dwell time theory. Average dwell times are also computed by exploiting multiple Lyapunov-like functions that account for the delays in the detection of a fault. The other key contribution of this thesis is the design of a switched recovery control scheme that does not require the explicit detection of the faults. Sufficient conditions are given in terms of linear matrix inequalities (LMIs) coupled with a scalar, and depend on modified Lyapunov-Metzler inequalities. The switched recovery scheme developed consists of jointly designed state feedback gains switched according to a min-switching strategy that preserves closed-loop stability and satisfy a prescribed H1 or H2 performance. Finally, the inherent fast switching issue of the min-switching strategy is treated at the expense of conservative reformulated LMIs conditions. Furthermore, the state-dependent switched control scheme is extended to output feedback case. Simulation results demonstrate the potential of the developed switching recovery control schemes to overcome various actuation faults.

History

Supervisor(s)

Prempain, Emmanuel; Viviescas, Rafael Morales

Date of award

2018-01-30

Author affiliation

Department of Engineering

Awarding institution

University of Leicester

Qualification level

  • Doctoral

Qualification name

  • PhD

Language

en

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