Fault-Tolerant Control using a Virtual Actuator using LPV Techniques: Application to a Two-Degree of Freedom Helicopter

In this paper, a Fault Tolerant Control (FTC) strategy using a virtual actuator for non-***linear systems represented as Linear Parameter Varying (LPV) models is proposed. The main idea of this FTC method is to adapt the faulty plant to the nominal controller instead of adapting the controller to the faulty plant. That is, the faulty plant together with the virtual actuator block allows the controller to see the same plant as before the fault. This virtual actuator is designed using polytopic LPV techniques and LMIs. To assess the performance of the proposed approach a two degree of freedom helicopter is used.