Robust control and actuator fault detection based on an iterative LMI approach application on a quadrotor /
Linear Matrix Inequalities (LMIs) have recently gained momentum due to the increasing performance of computing hardware. Many current research activities rely on the advantages of this growth in order to design controllers with provable stability and performance guarantees. To guarantee robustness d...
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| Dokumentumtípus: | Cikk |
| Megjelent: |
University of Szeged, Institute of Informatics
Szeged
2024
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| Sorozat: | Acta cybernetica
26 No. 4 |
| Kulcsszavak: | Irányításelmélet, Robotika, Szabályozástechnika, Automatizálás, Vezérléstechnika, Alkalmazott matematika |
| Tárgyszavak: | |
| doi: | 10.14232/actacyb.301392 |
| Online Access: | http://acta.bibl.u-szeged.hu/86996 |
| LEADER | 02113nab a2200265 i 4500 | ||
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| 001 | acta86996 | ||
| 005 | 20250416075559.0 | ||
| 008 | 250416s2024 hu o 000 eng d | ||
| 022 | |a 2676-993X | ||
| 024 | 7 | |a 10.14232/actacyb.301392 |2 doi | |
| 040 | |a SZTE Egyetemi Kiadványok Repozitórium |b hun | ||
| 041 | |a eng | ||
| 100 | 1 | |a Benzinane Oussama | |
| 245 | 1 | 0 | |a Robust control and actuator fault detection based on an iterative LMI approach |h [elektronikus dokumentum] : |b application on a quadrotor / |c Benzinane Oussama |
| 260 | |a University of Szeged, Institute of Informatics |b Szeged |c 2024 | ||
| 300 | |a 799-816 | ||
| 490 | 0 | |a Acta cybernetica |v 26 No. 4 | |
| 520 | 3 | |a Linear Matrix Inequalities (LMIs) have recently gained momentum due to the increasing performance of computing hardware. Many current research activities rely on the advantages of this growth in order to design controllers with provable stability and performance guarantees. To guarantee robustness despite actuator faults, model uncertainty, nonlinearities, and measurement noise, a novel iterative LMI approach is presented to design an observer-based state feedback controller allowing for simultaneous optimization of the control and observer gains. A comparison with a combination of an Extended Kalman Filter (EKF) and a Linear-Quadratic Regulator (LQR) has been conducted, inherently providing guaranteed stability for the closed loop only when the separation principle holds, which is not the case in this study. Both approaches are applied on a quadrotor, where reliable detection and compensation of the faults in the presence of measurement noise is demonstrated. | |
| 650 | 4 | |a Természettudományok | |
| 650 | 4 | |a Számítás- és információtudomány | |
| 650 | 4 | |a Műszaki és technológiai tudományok | |
| 650 | 4 | |a Villamosmérnöki és informatikai tudományok | |
| 695 | |a Irányításelmélet, Robotika, Szabályozástechnika, Automatizálás, Vezérléstechnika, Alkalmazott matematika | ||
| 700 | 0 | 1 | |a Rauh Andreas |e aut |
| 856 | 4 | 0 | |u http://acta.bibl.u-szeged.hu/86996/1/cybernetica_026_numb_004_799-816.pdf |z Dokumentum-elérés |