Fault Tolerant Control Strategy Based on the DoA: Application to UAV

Abstract In this paper, a fault tolerant control (FTC) strategy for an unstable Unmanned Aerial Vehicle (UAV) subject to control surface failures is presented. The aircraft has few redundancies and the actuator saturations are considered. The latter reduce the ability for the UAV to manoeuvre and this fact is emphasized in faulty mode. The FTC strategy aims at increasing the stability by enlarging the domain of attraction (DOA) while setting the dynamic of the closed-loop system. Considerations about the implementation of this FTC system are tackled and a discussion about the time allowed for diagnosis and reconfiguration is led.

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