Fractional order PID-based adaptive fault-tolerant cooperative control of networked unmanned aerial vehicles against actuator faults and wind effects with hardware-in-the-loop experimental validation

2021 ◽  
Vol 114 ◽  
pp. 104861
Author(s):  
Ziquan Yu ◽  
Youmin Zhang ◽  
Bin Jiang ◽  
Chun-Yi Su ◽  
Jun Fu ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Fractional Order ◽  
Cooperative Control ◽  
Experimental Validation ◽  
Fault Tolerant ◽  
Hardware In The Loop ◽  
Actuator Faults ◽  
Wind Effects ◽  
Aerial Vehicles ◽  
Fractional Order Pid

Fault-Tolerant Formation Control of Unmanned Aerial Vehicles in the Presence of Actuator Faults and Obstacles

2016 ◽  
Vol 04 (03) ◽  
pp. 197-211 ◽  
Author(s):  
Zhixiang Liu ◽  
Chi Yuan ◽  
Xiang Yu ◽  
Youmin Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Actuator Faults ◽  
Outer Loop ◽  
Actuator Failures ◽  
Aerial Vehicles ◽  
Control Scheme ◽  
Multiple Unmanned Aerial Vehicles

This paper presents a leader-follower type of fault-tolerant formation control (FTFC) methodology with application to multiple unmanned aerial vehicles (UAVs) in the presence of actuator failures and potential collisions. The proposed FTFC scheme consists of both outer-loop and inner-loop controllers. First, a leader-follower control scheme with integration of a collision avoidance mechanism is designed as the outer-loop controller for guaranteeing UAVs to keep the desired formation while avoiding the approaching obstacles. Then, an active fault-tolerant control (FTC) strategy for counteracting the actuator failures and also for preventing the healthy actuators from saturation is synthesized as the inner-loop controller. Finally, a group of numerical simulations are carried out to verify the effectiveness of the proposed approach.

scholarly journals Fractional-Order Water Level Control Based on PLC: Hardware-In-The-Loop Simulation and Experimental Validation

Energies ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 2928 ◽  
Author(s):  
Arkadiusz Mystkowski ◽  
Andrzej Kierdelewicz
Keyword(s):  
Fractional Order ◽  
Pid Control ◽  
Experimental Validation ◽  
Water Tank ◽  
Hardware In The Loop ◽  
Level Control ◽  
Integer Order ◽  
Gain Margin ◽  
Fractional Order Controller ◽  
Fractional Order Pid

An industrial-oriented water tank level control system with PLC- and Simulink-based fractional-order controller realizations is presented. The discrete fractional-order and integer-order PID implementations are realized via the PLC and Simulink simulator. The benefits of the fractional-order PID compared to the integer-order PID control are confirmed by the hardware-in-the-loop (HIL) simulations and experiments. HIL simulations are realized using real-time communication between PLC and Simulink. The fractional-order controller is obtained for a desired phase/gain margin and validated via HIL simulations and experimental measurements.

Distributed fault-tolerant formation control for multiple unmanned aerial vehicles under actuator fault and intermittent communication interrupt

2021 ◽  
pp. 095965182097908
Author(s):  
Bing Han ◽  
Ju Jiang ◽  
Chaojun Yu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Fault Tolerant ◽  
Input Saturation ◽  
Actuator Faults ◽  
Aerial Vehicles ◽  
Multiple Unmanned Aerial Vehicles ◽  
The Stability ◽  
Intermittent Communication ◽  
Formation System

This article develops a distributed adaptive fault-tolerant formation control scheme for the multiple unmanned aerial vehicles to counteract actuator faults and intermittent communication interrupt, where the issues on control input saturation and mismatched uncertainties are also addressed. The discontinuous communication protocol technique is exploited to achieve the stability of the formation system, if the conditions of dwell time and the rate of communication are satisfied. On the basis of the local information of neighboring unmanned aerial vehicles, a novel distributed adaptive mechanism is designed to estimate the bounds of actuator faults and uncertainties, where the input saturation is explicitly taken into consideration. The stability of the whole formation system under the designed fault-tolerant formation control strategy is analyzed using the Lyapunov approach. Finally, simulation results are presented to illustrate the effectiveness of the proposed scheme.

Decentralized fractional-order backstepping fault-tolerant control of multi-UAVs against actuator faults and wind effects

2020 ◽  
Vol 104 ◽  
pp. 105939 ◽  
Author(s):  
Ziquan Yu ◽  
Youmin Zhang ◽  
Bin Jiang ◽  
Chun-Yi Su ◽  
Jun Fu ◽  
...  
Keyword(s):  
Fractional Order ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Faults ◽  
Wind Effects

scholarly journals Distributed Cooperative Avoidance Control for Multi-Unmanned Aerial Vehicles

Actuators ◽  
2018 ◽  
Vol 8 (1) ◽  
pp. 1 ◽  
Author(s):  
Sunan Huang ◽  
Rodney Swee Huat Teo ◽  
Wenqi Liu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Case Studies ◽  
Collision Avoidance ◽  
Hardware In The Loop ◽  
Crucial Issue ◽  
Communication Failure ◽  
Aerial Vehicles ◽  
Avoidance Control ◽  
Velocity Obstacle ◽  
Multi Uav

It is well-known that collision-free control is a crucial issue in the path planning of unmanned aerial vehicles (UAVs). In this paper, we explore the collision avoidance scheme in a multi-UAV system. The research is based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. Four case studies are presented for the demonstration of the effectiveness of the proposed method. The first two case studies are to verify if UAVs can avoid a static circular or polygonal shape obstacle. The third case is to verify if a UAV can handle a temporary communication failure. The fourth case is to verify if UAVs can avoid other moving UAVs and static obstacles. Finally, hardware-in-the-loop test is given to further illustrate the effectiveness of the proposed method.

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