kiankhaneghahi/Fault-Estimation-and-FTC-Strategies-Applied-to-VTOL-Aerial-Vehicles

This project is used to estimate, isolate and diagnose faults for a quadcopter and a PVTOL and also use a methods to control the system by tolerating the fault. Both quadcopter and PVTOL systems have nonlinear dynamics. The ways for fault estimation in this project consist of nonlinear AO and linear PIO for the PVTOL and qLPV PIO for the quadcopter. The nominal controller in both systems uses unit quaternions. For soft fault in both vehicles, a fault accommodation method is implemented where the estimated fault is added to the nominal control signal to cancel the additive fault.

Language: MATLAB - Size: 13.3 MB - Last synced at: over 1 year ago - Pushed at: over 3 years ago - Stars: 2 - Forks: 3