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首页> 外文会议>Unmanned Systems Technology IX; Proceedings of SPIE-The International Society for Optical Engineering; vol.6561 >Fault tolerant cooperative control for UAV rendezvous problem subject to actuator faults
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Fault tolerant cooperative control for UAV rendezvous problem subject to actuator faults

机译：受执行器故障影响的无人机交会问题的容错协作控制

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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：本文研究了无人机交会问题的容错协作控制问题，在该问题中，尽管任何无人机的推进器都存在故障，但仍需要多个无人机到达其指定目标。提出并开发了一种集成的分层方案，该方案由团队级别的协作会合计划算法和单个UAV的执行器/传感器级别的非线性故障检测与隔离（FDI）子系统组成。此外，还开发了一个集合点重新计划策略，该策略将集合点计划算法与低层FDI相连接。非线性几何方法用于FDI子系统，可以检测和隔离包括推力器和控制面在内的各种UAV执行器中的故障。所开发的方案是针对具有三个Aerosonde无人机，一个单一目标以及存在先验已知威胁的交会场景实施的。仿真结果表明，尽管Aerosondes发动机推进器严重丧失了效能，但我们提出的方案在完成交会任务目标（被指定为成功拦截Aerosondes的指定目标）方面的有效性。

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