Performance Oriented Fault Tolerant Attitude Control of a Hexacopter Using LPV-Control with Partly-Measurable Parameters

Abstract

In this paper the design of a passive fault tolerant controller for a hexacopter is adressed, which is able to cope with actuator degradation. The design is achieved with the linear parameter-varying (LPV) system framework. Based on a nonlinear model a quasi-LPV model is generated through function substitution. This model is extended with a degradation modeling by including additional LPV parameters to describe the actuator degradation. Since the shown approach is passive, these additional parameters are not measurable and therefore, a controller design with a partly measurable parameter vector is accomplished. The obtained controller is evaluated and its performance and capabilities against actuator degradation in comparison to a conventional LPV control design are presented based on simulations with a high-fidelity nonlinear model.