Supervisory fault tolerant control of the GTM UAV using LPV methods

The aim of the paper is to present a supervisory decentralized architecture for the design and development of reconfigurable and fault-tolerant control systems in aerial vehicles. The performance specifications with respect to flight envelope and fault states are guaranteed by local controllers, while the coordination of these components is provided by a supervisor. The monitoring components and FDI filters provide the supervisor with information about different fault operations, based on that it is able to make decisions about necessary interventions into the vehicle motions and guarantee reconfigurable and fault-tolerant operation of the aircraft. The design of the proposed reconfigurable and fault-tolerant control is based on an LPV method that uses monitored scheduling variables during the operation of the vehicle. The design is demonstrated on the high-fidelity simulation model of the NASA AirSTAR Flight Test Vehicle.