• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Conference on Unmanned Systems Technology >Fault tolerant cooperative control for UAV rendezvous problem subject to actuator faults
【24h】

Fault tolerant cooperative control for UAV rendezvous problem subject to actuator faults

机译：UAV Rendezvous问题对执行器故障进行的容错合作控制

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper investigates the problem of fault tolerant cooperative control for UAV rendezvous problem in which multiple UAVs are required to arrive at their designated target despite presence of a fault in the thruster of any UAV. An integrated hierarchical scheme is proposed and developed that consists of a cooperative rendezvous planning algorithm at the team level and a nonlinear fault detection and isolation (FDI) subsystem at individual UAV's actuator/sensor level. Furthermore, a rendezvous re-planning strategy is developed that interfaces the rendezvous planning algorithm with the low-level FDI. A nonlinear geometric approach is used for the FDI subsystem that can detect and isolate faults in various UAV actuators including thrusters and control surfaces. The developed scheme is implemented for a rendezvous scenario with three Aerosonde UAVs, a single target, and presence of a priori known threats. Simulation results reveal the effectiveness of our proposed scheme in fulfilling the rendezvous mission objective that is specified as a successful intercept of Aerosondes at their designated target, despite the presence of severe loss of effectiveness in Aerosondes engine thrusters.
机译：本文调查了UAV集合问题的容错合作控制问题，其中许多无人机必须在任何UAV的推进器中存在故障存在，尽管存在故障。提出并开发了一个集成的分层方案，该方案包括在团队级别的协作Rendezvous规划算法和个人无人机的执行器/传感器级别的非线性故障检测和隔离（FDI）子系统组成。此外，开发了一个与低级别的FDI接口Rendezvous计划算法的Rendezvous重新计划策略。非线性几何方法用于FDI子系统，可以在包括推进器和控制表面的各种UAV执行器中检测和隔离故障。开发方案是针对具有三个Aerosonde无人机，单个目标和先验已知威胁的存在的集合场景。仿真结果揭示了我们拟议方案在满足与烟雾发动机推进器中严重损失的有效性的成功拦截雾化的集会特派团的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号