LPV Control and Virtual-Sensor-Based Fault Tolerant Strategies for a Three-Axis Gimbal System.

Area of Science:

• Robotics and Control Systems
• Fault-Tolerant Control Systems
• Linear Parameter-Varying (LPV) Systems

Background:

• Three-axis gimbals are critical components in various applications requiring precise orientation control.
• Traditional control methods may struggle with system uncertainties and potential component failures.
• Developing robust and fault-tolerant control strategies is essential for reliable gimbal operation.

Purpose of the Study:

• To develop and validate a Linear Parameter-Varying (LPV) control strategy for a three-axis gimbal.
• To incorporate fault-tolerant capabilities into the LPV control framework.
• To enhance gimbal system reliability and performance through advanced control techniques.

Main Methods:

• Derivation of an analytical model using Serial-Link (SL) robotics theory.
• Simplification to a quasi-LPV model for control design.
• Design of gain-scheduled LPV controllers with PID structure using pole placement and Linear Matrix Inequalities (LMIs).
• Implementation of a virtual-sensor-based fault-tolerant control (FTC) strategy using Recursive Least Square (RLS) estimation and an LPV observer for fault detection and estimation.

Main Results:

• Successful derivation of a quasi-LPV model for the three-axis gimbal.
• Design of effective LPV controllers with PID structure using LMIs.
• Development of a robust virtual-sensor-based FTC strategy for fault detection and estimation.
• Validation of the integrated LPV control and FTC scheme through simulations in various scenarios.

Conclusions:

• The proposed LPV control scheme effectively manages the three-axis gimbal dynamics.
• The integrated virtual-sensor-based FTC strategy enhances system resilience against faults.
• The study demonstrates the feasibility and effectiveness of LPV control with fault tolerance for gimbal systems.