- Tytuł:
- Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults
- Autorzy:
-
Kantue, Paulin
Pedro, Jimoh O. - Powiązania:
- https://bibliotekanauki.pl/articles/2172129.pdf
- Data publikacji:
- 2022
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
fault tolerant control
quadrocopter
incipient actuator fault
radial basis function
neural network
sterowanie tolerujące uszkodzenia
kwadrokopter
radialna funkcja bazowa
sieć neuronowa - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2022, 32, 4; 601--617
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł