This study addresses the problem of fault accommodation in nonlinear systems described by multiple-models. The considered nonlinear system is an aerial vehicle with four-rotors that is subject to actuator fault. The complexity of the system dynamics poses a significant challenge to its control, especially with the presence of failures. Consequently, a new model is proposed and build, based on Takagi-Sugeno (TS) multiple models. The main objective is to stabilize the vehicle attitude even with the actuator fault. An accommodation strategy is proposed based on TS models. The stability of the suggested model is proved using Lyapunov theory and linear matrix inequalities (LMIs).
Aerial vehicle, Actuator fault, Takagi-Sugeno, Multiple models, FTC.
Hajer MLAYEH, Atef KHEDHER, "Actuator Fault Accommodation of an Aerial Vehicle Described by Takagi-Sugeno Models", Studies in Informatics and Control, ISSN 1220-1766, vol. 33(2), pp. 73-81, 2024. https://doi.org/10.24846/v33i2y202407
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