Adaptive fault-tolerant control of incipient and severe actuator faults of UAVs formation

Author

Xu Qing ; Yang Hao ; Jiang Bin

Author_Institution

Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2013

Firstpage

6160

Lastpage

6165

Abstract

This paper studies fault tolerant control method of incipient and severe actuator faults of unmanned aerial vehicles (UAVs) formation. We first design a feedback control for the initial normal system. In the event of actuator faults, a compensation is incorporated into the initial controller to accomplish fault tolerant and stabilize the whole formation as well. Then the difference between controller of incipient and severe faults is analyzed. Finally the proposed method is illustrated via Matlab simulink.

Keywords

actuators; adaptive control; autonomous aerial vehicles; compensation; control system synthesis; fault tolerance; feedback; mobile robots; multi-robot systems; position control; Matlab Simulink; UAV formation; adaptive fault-tolerant control; compensation; feedback control design; formation stabilization; incipient actuator fault; initial normal system; severe actuator fault; unmanned aerial vehicles; Actuators; Automation; Educational institutions; Fault tolerance; Fault tolerant systems; Feedback control; Unmanned aerial vehicles; UAV formation; actuator; adaptive fault tolerant tracking control; incipient and severe faults;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2013 32nd Chinese

Conference_Location

Xi´an

Type

conf

Filename

6640517