scholarly journals Typical Fault Estimation and Dynamic Analysis of a Leader-Follower Unmanned Aerial Vehicle Formation

2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Jian Shen ◽  
Qingyu Zhu ◽  
Xiaoguang Wang ◽  
Pengyun Chen
Keyword(s):  
Dynamic Analysis ◽  
Unmanned Aerial Vehicle ◽  
Cooperative Control ◽  
Health Management ◽  
Fault Tolerant ◽  
Design Method ◽  
Observer Design ◽  
Fault Estimation ◽  
Proportional Navigation ◽  
Aerial Vehicle

In this paper, the typical fault estimation and dynamic analysis are presented for a leader-follower unmanned aerial vehicle (UAV) formation system with external disturbances. Firstly, a dynamic model with proportional navigation guidance (PNG) control of the UAV formation is built. Then, an intermediate observer design method is adopted to estimate the system states and faults simultaneously. Based on the graph theory, the topology relationship between each node in the UAV formation has been also analyzed. The estimator and the system error have been created. Moreover, the typical faults, including the components failure, airframe damage, communication failure, formation collision, and environmental impact, are also discussed for the UAV system. Based on the fault-tolerant strategy, five familiar fault models are proposed from the perspectives of fault estimation, dynamical disturbances, and formation cooperative control. With an analysis of the results of states and faults estimation, the actuator faults can be estimated precisely with component failure and wind disturbances. Furthermore, the basic dynamic characteristics of the UAV formation are discussed. Besides, a comparison of two cases related to the wind disturbance has been accomplished to verify the performance of the fault estimator and controller. The results illustrate the credibility and applicability of the fault estimation and dynamic control strategies for the UAV system which are proposed in this paper. Finally, an extension about the UAV formation prognostic health management system is expounded from the point of view of the fault-tolerant control, dynamic modeling, and multifault estimation.

scholarly journals Sliding Mode Fault Tolerant Control for Unmanned Aerial Vehicle with Sensor and Actuator Faults

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 643 ◽  
Author(s):  
Juan Tan ◽  
Yonghua Fan ◽  
Pengpeng Yan ◽  
Chun Wang ◽  
Hao Feng
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Health Management ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Control Process ◽  
Fault Tolerant Control ◽  
Accelerometer Sensor ◽  
Actuator Failures ◽  
Aerial Vehicle ◽  
Gyroscope Sensor

The unmanned aerial vehicle (UAV) has been developing rapidly recently, and the safety and the reliability of the UAV are significant to the mission execution and the life of UAV. Sensor and actuator failures of a UAV are one of the most common malfunctions, threating the safety and life of the UAV. Fault-tolerant control technology is an effective method to improve the reliability and safety of UAV, which also contributes to vehicle health management (VHM). This paper deals with the sliding mode fault-tolerant control of the UAV, considering the failures of sensor and actuator. Firstly, a terminal sliding surface is designed to ensure the state of the system on the sliding mode surface throughout the control process based on the simplified coupling dynamic model. Then, the sliding mode control (SMC) method combined with the RBF neural network algorithm is used to design the parameters of the sliding mode controller, and with this, the efficiency of the design process is improved and system chattering is minimized. Finally, the Simulink simulations are carried out using a fault tolerance controller under the conditions where accelerometer sensor, gyroscope sensor or actuator failures is assumed. The results show that the proposed control strategy is quite an effective method for the control of UAVs with accelerometer sensor, gyroscope sensor or actuator failures.

scholarly journals Robust fault diagnosis and fault-tolerant control for nonlinear quadrotor unmanned aerial vehicle system with unknown actuator faults

2021 ◽  
Vol 18 (2) ◽  
pp. 172988142110027
Author(s):  
Jinjin Guo ◽  
Juntong Qi ◽  
Chong Wu
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Small Amplitude ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Adaptive Observer ◽  
Fault Estimation ◽  
Detection Accuracy ◽  
Actuator Faults ◽  
Model Uncertainties ◽  
Aerial Vehicle

This article addresses the problem that quadrotor unmanned aerial vehicle (UAV) actuator faults, including small-amplitude bias faults and gain degradation, cannot be detected in time. A hybrid observer, which combines the fast convergence from adaptive observer and the strong robustness from sliding mode observer, is proposed to detect and estimate UAV actuator faults accurately with model uncertainties and disturbances. A nonlinear quadrotor UAV model with model uncertainties and disturbances is considered and a more precise unified expression for actuator faults that do not require knowing where the upper or lower bound is provided. The original system is decomposed into two subsystems by coordinate transformation to improve detection accuracy for small amplitude bias faults and avoid external influences. The hybrid observer is then designed to estimate subsystem states and faults with good stability by selecting a Lyapunov function. A fault-tolerant controller is obtained depending on fault estimation by compensating the normal controller (proportion integral differential [PID] controller). Several numerical simulations confirmed that unknown actuator faults can be accurately detected, estimated, and compensated for even under disturbance conditions.

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

Fuzzy adaptive nonlinear sensor‐fault tolerant control for a quadrotor unmanned aerial vehicle

2018 ◽  
Vol 22 (3) ◽  
pp. 1163-1176
Author(s):  
Chaofang Hu ◽  
Lei Cao ◽  
Xianpeng Zhou ◽  
Binghan Sun ◽  
Na Wang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Sensor Fault ◽  
Aerial Vehicle ◽  
Fuzzy Adaptive

scholarly journals Design of a Hand-Launched Solar-Powered Unmanned Aerial Vehicle (UAV) System for Plateau

2020 ◽  
Vol 10 (4) ◽  
pp. 1300 ◽  
Author(s):  
Xin Zhao ◽  
Zhou Zhou ◽  
Xiaoping Zhu ◽  
An Guo
Keyword(s):  
Low Temperature ◽  
Conceptual Design ◽  
Unmanned Aerial Vehicle ◽  
Design Method ◽  
Structure Design ◽  
Control Law ◽  
Trajectory Tracking Control ◽  
Plateau Area ◽  
Aerial Vehicle ◽  
Solar Powered

This paper describes our work on a small, hand-launched, solar-powered unmanned aerial vehicle (UAV) suitable for low temperatures and high altitudes, which has the perpetual flight potential for conservation missions for rare animals in the plateau area in winter. Firstly, the conceptual design method of a small, solar-powered UAV based on energy balance is proposed, which is suitable for flight in high-altitude and low-temperature area. The solar irradiance model, which can reflect the geographical location and time, was used. Based on the low-temperature discharge test of the battery, a battery weight model considering the influence of low temperature on the battery performance was proposed. Secondly, this paper introduces the detailed design of solar UAV for plateau area, including layout design, structure design, load, and avionics. To increase the proportion of solar cells covered, the ailerons were removed and a rudder was used to control both roll and yaw. Then, the dynamics model of an aileron-free layout UAV was developed, and the differences in maneuverability and stability of aileron-free UAV in plateau and plain areas were analyzed. The control law and trajectory tracking control law were designed for the aileron-free UAV. Finally, the flight test was conducted in Qiangtang, Tibet, at an altitude of 4500 m, China’s first solar-powered UAV to take off and land above 4500 m on the plateau in winter (−30 °C). The test data showed the success of the scheme, validated the conceptual design method and the success of the control system for aileron-free UAV, and analyzed the feasibility of perpetual flight carrying different loads according to the flight energy consumption data.

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