Supervisory fault tolerant control of the GTM UAV using LPV methods

Tamás Péni, Bálint Vanek, Zoltán Szabó, József Bokor

Research output: Contribution to journalArticle

13 Citations (Scopus)


A multi-level reconfiguration framework is proposed for fault tolerant control of over-actuated aerial vehicles, where the levels indicate how much authority is given to the reconfiguration task. On the lowest, first level the fault is accommodated by modifying only the actuator/sensor configuration, so the fault remains hidden from the baseline controller. A dynamic reallocation scheme is applied on this level. The allocation mechanism exploits the actuator/sensor redundancy available on the aircraft. When the fault cannot be managed at the actuator/sensor level, the reconfiguration process has access to the baseline controller. Based on the LPV control framework, this is done by introducing fault-specific scheduling parameters. The baseline controller is designed to provide an acceptable performance level along all fault scenarios coded in these scheduling variables. The decision on which reconfiguration level has to be initiated in response to a fault is determined by a supervisor unit. The method is demonstrated on a full six-degrees-of-freedom nonlinear simulation model of the GTM UAV.

Original languageEnglish
Pages (from-to)117-131
Number of pages15
JournalInternational Journal of Applied Mathematics and Computer Science
Issue number1
Publication statusPublished - Mar 1 2015


  • fault tolerant control
  • flight control
  • linear parameter-varying systems
  • supervisory architecture

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Engineering (miscellaneous)
  • Applied Mathematics

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