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

Abstract

This paper deals with the LPV control of a three-axis gimbal including fault-tolerant capabilities. First, the derivation of an analytical model for the considered system based on the robotics Serial-Link (SL) theory is derived. Then, a series of simplifications that allow obtaining a quasi-LPV model for the considered gimbal is proposed. Gain scheduling LPV controllers with PID structure are designed using pole placement by means of linear matrix inequalities (LMIs). Moreover, exploiting the sensor redundancy available in the gimbal, a virtual-sensor-based fault tolerant control (FTC) strategy is proposed. This virtual sensor uses a Recursive Least Square (RLS) estimation algorithm and an LPV observer for fault detection and estimation. Finally, the proposed LPV control scheme including the virtual sensor strategy is tested in simulation in several scenarios.