Estimation of Unmanned Aerial Vehicle Dynamics in the Presence of Sensor/Actuator Faults

2015 ◽  
pp. 95-108
Author(s):  
Chingiz Hajiyev ◽  
Halil Ersin Soken ◽  
Sıtkı Yenal Vural
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Vehicle Dynamics ◽  
Actuator Faults ◽  
Sensor Actuator ◽  
Aerial Vehicle

scholarly journals MATHEMATICAL MODELLING OF THE UNMANNED AERIAL VEHICLE DYNAMICS

2018 ◽  
pp. 37-44
Author(s):  
V. Y. Stepanov
Keyword(s):  
Mathematical Model ◽  
Mathematical Modelling ◽  
Unmanned Aerial Vehicle ◽  
Vehicle Dynamics ◽  
Point Of View ◽  
Dynamics Analysis ◽  
Aerial Vehicle ◽  
Main Components ◽  
Controlled Object

The article gives a classification of the main components of unmanned aerial vehicle (UAV) systems, gives the areas in which the application of UAVs is actual in practice today. Further, the UAV is considered in more detail from the point of view of its flight dynamics analysis, the equation necessary for creating a mathematical model, as well as the model of an ordinary dynamic system as a non-stationary nonlinear controlled object, is given. Next, a description of the developed software for modeling and a description of program algorithm are given. Finally, a conclusion describes the necessary directions for further scientific researches.

scholarly journals Fault-Tolerant Time-Varying Formation Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Ran Zhen ◽  
Yating Jin ◽  
Xiaojing Wu ◽  
Xueli Wu ◽  
Xuan Lv
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Time Varying ◽  
Actuator Faults ◽  
Control Protocol ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Uav Swarm ◽  
Aerial Vehicle

This paper investigates fault-tolerant time-varying formation tracking control problems for unmanned aerial vehicle (UAV) swarm systems with switching topologies. Actuator faults such as loss of effectiveness and bias fault are mainly considered. Firstly, based on graph theory, an adaptive fault-tolerant time-varying formation tracking control protocol is constructed with adaptive updating parameters and the relative information of the neighboring UAVs, and the feasibility condition for formation tracking is given. The control protocol does not depend on the information of the actuator fault boundary by using adaptive technology. Then, by constructing a reasonable Lyapunov function and solving the algebraic Riccati equation, the stability of the designed controller is proved. For UAV swarm systems with switching topologies and actuator faults, the formation tracking control protocol designed is adopted to enable the followers form the desired time-varying formation and track the leader’s status at the same time. Finally, the simulation examples are given to illustrate the effectiveness of the theoretical results.

Reconfiguration control method for non-redundant actuator faults on unmanned aerial vehicle

2019 ◽  
Vol 234 (10) ◽  
pp. 1597-1610 ◽  
Author(s):  
Adèle Boche ◽  
Jean-Loup Farges ◽  
Henry De Plinval
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Method ◽  
Fault Tolerant ◽  
State Equation ◽  
Actuator Faults ◽  
Actuator Dynamics ◽  
Discounted Cost ◽  
Optimal Controllers ◽  
Control Scheme ◽  
Aerial Vehicle

In this article, an indirect continuous and discrete Fault-Tolerant Control scheme is applied to the longitudinal dynamics of a fixed-wing unmanned aerial vehicle. To address the problem raised by a possible engine fault, the FTC method is adapted to non-redundant actuator faults by considering signatures on residuals, designing discounted cost optimal controllers, using rolling horizon techniques and considering actuator dynamics in the state equation. The efficiency of the proposed approach is demonstrated on a scenario involving thrust and elevon faults during a landing procedure.

L1 adaptive dynamic inversion attitude control for unmanned aerial vehicle with actuator failures

2018 ◽  
Vol 233 (11) ◽  
pp. 4129-4140
Author(s):  
Yan Zhou ◽  
Huiying Liu ◽  
Huijuan Guo ◽  
Xiaojun Duan
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Adaptive Controller ◽  
Lyapunov Theory ◽  
Dynamic Inversion ◽  
Actuator Faults ◽  
Actuator Failures ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
L1 Adaptive Controller

This paper presents a hybrid attitude control scheme of L1 adaptive and dynamic inversion for unmanned aerial vehicle with actuator faults, where both gain fault and bias fault are considered. Firstly, dynamic inversion is employed to track attitude angles in the outer loop and ensures the rapid response. Secondly, an L1 adaptive controller for the inner loop is established to compensate for system uncertainty and uncertainty caused by actuator failures. Thirdly, the analysis of steady-state and transient performance is given by Lyapunov theory. Finally, simulation results prove the effectiveness of the proposed approach.

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