Adaptive Fault-Tolerant Control of Unmanned Quadrotor Helicopter Using Linear Parameter Varying Control Technique

This paper presents an active fault-tolerant control (FTC) design approach by virtue of an adaptive linear parameter varying (LPV) methodology. In this study, the magnitude of fault is obtained from the results of a fault detection and diagnosis (FDD) scheme. Based on the estimated fault magnitude, a fault-tolerant linear parameter dependent state-feedback controller in a convex polytopic LPV representation format is designed so as to counteract the adverse effects of actuator faults. The parameters that vary with actuator fault magnitudes are specified as design parameters for LPV controller, while the ultimate control law can be obtained using the well-established linear matrix inequality (LMI) conditions. Numerical simulations on an unmanned quadrotor helicopter nonlinear model are carried out to demonstrate the effectiveness of the proposed method.