Fault-Tolerant Control of a 2 DOF Helicopter (TRMS System) Based on H_infinity

TL;DR

This paper develops a fault-tolerant control strategy for a 2 DOF helicopter system using H-infinity methods, involving a mathematical model and an unknown input observer to detect and compensate faults.

Contribution

It introduces a novel fault-tolerant control approach for nonlinear systems based on H-infinity and UIO, with a specific application to a 2 DOF helicopter.

Findings

Successful fault detection and compensation demonstrated

Effective control strategy for nonlinear TRMS system

Use of LMIs for observer synthesis

Abstract

In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System) Based on H-infinity is presented. In particular, the introductory part of the paper presents a Fault-Tolerant Control (FTC), the first part of this paper presents a description of the mathematical model of TRMS, and the last part of the paper presented and a polytypic Unknown Input Observer (UIO) is synthesized using equalities and LMIs. This UIO is used to observe the faults and then compensate them, in this part the shown how to design a fault-tolerant control strategy for this particular class of non-linear systems.