Integrated Fault–Tolerant Control of a Quadcopter UAV with Incipient Actuator Faults

IF 1.6 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

International Journal of Applied Mathematics and Computer Science Pub Date : 2022-12-01 DOI:10.34768/amcs-2022-0042

Paulin Kantue, J. Pedro

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引用次数: 0

Abstract

Abstract An integrated approach to the fault-tolerant control (FTC) of a quadcopter unmanned aerial vehicle (UAV) with incipient actuator faults is presented. The framework is comprised of a radial basis function neural network (RBFNN) fault detection and diagnosis (FDD) module and a reconfigurable flight controller (RFC) based on the extremum seeking control approach. The dynamics of a quadcopter subject to incipient actuator faults are estimated using a nonlinear identification method comprising a continuous forward algorithm (CFA) and a modified golden section search (GSS) one. A time-difference-of-arrival (TDOA) method and the post-fault system estimates are used within the FDD module to compute the fault location and fault magnitude. The impact of bi-directional uncertainty and FDD detection time on the overall FTC performance and system recovery is assessed by simulating a quadcopter UAV during a trajectory tracking mission and is found to be robust against incipient actuator faults during straight and level flight and tight turns.

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四轴飞行器致动器早期故障的集成容错控制

摘要提出了一种具有执行器早期故障的四轴飞行器容错控制的集成方法。该框架由径向基函数神经网络(RBFNN)故障检测与诊断(FDD)模块和基于极值寻优控制方法的可重构飞行控制器(RFC)组成。采用一种由连续前向算法(CFA)和改进黄金分割搜索(GSS)组成的非线性辨识方法，对四旋翼飞行器在执行器早期故障情况下的动力学特性进行了估计。在FDD模块中，采用到达时间差(TDOA)方法和故障后系统估计来计算故障位置和故障大小。通过模拟轨迹跟踪任务中的四轴飞行器，评估了双向不确定性和FDD检测时间对整体FTC性能和系统恢复的影响，并发现在直线飞行和水平飞行以及急转弯时，对于执行器的早期故障具有鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Applied Mathematics and Computer Science 工程技术-计算机：人工智能

CiteScore

4.10

自引率

21.10%

发文量

审稿时长

4.2 months

期刊介绍： The International Journal of Applied Mathematics and Computer Science is a quarterly published in Poland since 1991 by the University of Zielona Góra in partnership with De Gruyter Poland (Sciendo) and Lubuskie Scientific Society, under the auspices of the Committee on Automatic Control and Robotics of the Polish Academy of Sciences. The journal strives to meet the demand for the presentation of interdisciplinary research in various fields related to control theory, applied mathematics, scientific computing and computer science. In particular, it publishes high quality original research results in the following areas: -modern control theory and practice- artificial intelligence methods and their applications- applied mathematics and mathematical optimisation techniques- mathematical methods in engineering, computer science, and biology.