چكيده به لاتين
Safety, reliability and acceptable performance of dynamic control systems are the main features of every control systems especially safety-critical systems. Improved safety and reliability in these systems, requires the applying of fault tolerance control methods to overcome failures and faults. This thesis attempts to provide an active approach to improve the reliability of the quadrotor in the face of its sensor faults. In order to realize this, firstly, fault estimation observers, which are the most important part of active fault tolerance control systems, have been addressed. This stochastic observer also has the ability to estimate the fault of the actuators simultaneously with the fault of the sensors. Then, a high-frequency parameter adjustment deterministic observer is developed based on linear matrix inequality approach, which provides acceptable results for estimating attitude sensor faults of the quadrotor. In this estimator, by adding an adjustment parameter to estimator equations, more freedom of action to solve linear matrix inequality has been arises. Also, a new nonlinear observer based on an intermediate variable for simultaneous estimation of sensor and actuator faults has been presented, which has good results with application of quadrotor. In order to design an active fault tolerant controller subject to sensor faults, it is sufficient to estimate the sensor faults through a fault estimator and then compensate this fault in the control law. So, finally, an active fault-tolerant control strategy based on a proportional integral differential (PID) controller with a new additional variable observer for estimating the sensor fault is presented and its results have been investigated throughout the simulation.
