Switched LPV resilient tracking control for rigid-body with defective actuators and sensors

Abstract

In this paper, a switched linear parameter-varying (LPV) resilient tracking controller is designed for rigid-body under actuator faults, uncertainties in measurement of scheduling parameters and time-delay in detection of system modes. The nonlinear attitude dynamics of rigid-body is constructed as a switched LPV system in which persistent dwell-time switching rule is used to regulate the switches caused by abrupt and intermittent actuator failures. Thereafter, by constructing a class of both parameter-dependent and time-dependent multiple Lyapunov functions (MLFs), a switched LPV resilient tracking controller is developed in order that the global uniform exponential stability and desired $L_{\infty }$ performance of the underlying system are achieved even with uncertain scheduling parameters, mismatched modes and persistent external disturbances. Furthermore, the nonconvex conditions of control synthesis are converted into parameterized linear matrix inequalities that can be readily resolved via gridding technique. Finally, the availability of the provided approach is evaluated with a numerical simulation.