Fault tolerant control using linear quadratic technique against actuator faults in a UAV

The paper presents an optimal fault tolerant control solution against the actuator faults in unmanned aerial vehicles (UAVs). A set of potential actuator fault scenarios are determined for the design of the fault tolerant controller. Controller design based on a linear quadratic (LQ) technique is chosen to be used for fault tolerant control design with the reformulated algebraic Riccati equation. In designing the fault tolerant controller gain, algebraic Riccati equation is reformulated to satisfy the stability and performance requirement under all the known fault scenarios. Weighting matrices Q and R are chosen in a way using method which can still maintain post-failure system's stability and acceptable performance with the desired redefined pole positions. The good performance is showed in simulations with respect to different fault scenarios considered in designing the fault tolerant controller for a UAV.