Distributed robust H∞ adaptive fault-tolerant control of amorphous and flat air-to-ground wireless self-organizing network system

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zhifang Wang ◽  
Jianguo Yu ◽  
Shangjing Lin ◽  
Junguo Dong ◽  
Zheng Yu
Keyword(s):  
Flight Control ◽  
Control Algorithm ◽  
Ad Hoc ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Integrated System ◽  
External Disturbances ◽  
Content Type ◽  
Actuator Failures ◽  
Wireless Signal

Purpose The paper takes the air-ground integrated wireless ad hoc network-integrated system as the research object, this paper aims to propose a distributed robust H∞ adaptive fault-tolerant control algorithm suitable for the system to distribute to solve the problem of control and communication failure at the same time. Design/methodology/approach In the paper, the authors propose a distributed robust H∞ adaptive fault-tolerant control algorithm suitable for the air-ground integrated wireless ad hoc network-integrated system. Findings The results show that the integrated system has good robustness and fault tolerance performance indicators for flight control and wireless signal transmission when confronted with external disturbances, internal actuator failures and wireless network associated failures and the flight control curve of the quadrotor unmanned aerial vehicle (UAV) is generally smooth and stable, even if it encounters external disturbances and actuator failures, its fault tolerance performance is very good. Then in the range of 400–800 m wireless communication distance, the success rate of wireless signal loop transmission is stable at 80%–100% and the performance is at least relatively improved by 158.823%. Originality/value This paper takes the air-ground integrated wireless ad hoc network-integrated system as the research object, based on the robust fault-tolerant control algorithm, the authors propose a distributed robust H∞ adaptive fault-tolerant control algorithm suitable for the system and through the Riccati equation and linear matrix inequation method, the designed distributed robust H∞ adaptive fault-tolerant controller further optimizes the fault suppression factor γ, so as to break through the limitation of only one Lyapunov matrix for different fault modes to distribute to solve the problem of control and communication failure at the same time.

Research on robust adaptive sliding film fault-tolerant control under nonlinear distortion of signal transmission in amorphous flat air-to-ground wireless ad-hoc network system

2022 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zhifang Wang ◽  
Jianguo Yu ◽  
Shangjing Lin
Keyword(s):  
Nonlinear Distortion ◽  
Ad Hoc ◽  
Fault Tolerant ◽  
Signal Transmission ◽  
Network System ◽  
Long Distance ◽  
Content Type ◽  
Wireless Signal ◽  
Robust Adaptive ◽  
Self Organizing

Purpose To solve the above problems and ensure the stability of the ad hoc network node topology in the process of wireless signal transmission, this paper aims to design a robust adaptive sliding film fault-tolerant controller under the nonlinear distortion of signal transmission in an amorphous flat air-to-ground wireless ad hoc network system. Design/methodology/approach This paper designs a robust adaptive sliding film fault-tolerant controller under the nonlinear distortion of signal transmission in an amorphous flat air-to-ground wireless ad hoc network system. Findings The simulation results show that the amorphous flat wireless self-organizing network system has good nonlinear distortion fault-tolerant correction ability under the feedback control of the designed controller, and the system has the asymptotically stable convergence ability; the test results show: the node topology of the self-organizing network structural stability is significantly improved, which provides a foundation for the subsequent realization of long-distance transmission of ad hoc network nodes. Research limitations/implications Because of the chosen research approach, the research results may lack generalizability. Therefore, researchers are encouraged to test the proposed propositions further. Originality/value The controller can extract the fault information caused by nonlinear distortion in the wireless signal transmission process, and at the same time, its feedback matrix K can gradually converge the generated wireless signal error to zero, to realize the stable transmission of the wireless signal.

Integrated design of fault-tolerant control for flight control systems using observer and fuzzy logic

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Gulay Unal
Keyword(s):  
Fuzzy Logic ◽  
Flight Control ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Integrated Approach ◽  
Fault Isolation ◽  
Flight Control System ◽  
Sensor Fault ◽  
Content Type ◽  
Simulation Results

Purpose Fault detection, isolation and reconfiguration of the flight control system is an important problem to obtain healthy flight. This paper aims to propose an integrated approach for aircraft fault-tolerant control. Design/methodology/approach The integrated structure includes a Kalman filter to obtain without noise, a full order observer for sensor fault detection, a GOS (generalized observer scheme) for sensor fault isolation and a fuzzy controller to reconfigure of the healthy sensor. This combination is simulated using the state space model of a lateral flight control system in case of disturbance and under sensor fault scenario. Findings Using a dedicated observer scheme, the detection and time of sensor fault are correct, but the sensor fault isolation is evaluated incorrectly while the faulty sensor is isolated correctly using GOS. The simulation results show that the suggested approach works affectively for sensor faults with disturbance. Originality/value This paper proposes an integrated approach for aircraft fault-tolerant control. Under this framework, three units are designed, one is Kalman filter for filtering and the other is GOS for sensor fault isolation and another is fuzzy logic for reconfiguration. An integrated approach is sensitive to faults that have disturbances. The simulation results show the proposed integrated approach can be used for any linear system.

Fault tolerant control against actuator faults based on enhanced PID controller for a quadrotor

2017 ◽  
Vol 89 (3) ◽  
pp. 468-476 ◽  
Author(s):  
Ahmet Ermeydan ◽  
Emre Kiyak
Keyword(s):  
Steady State ◽  
Flight Control ◽  
Pid Controller ◽  
Controller Design ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Faults ◽  
Content Type ◽  
Path Control ◽  
The Stability

Purpose The purpose of this paper is to present fault tolerant control of a quadrotor based on the enhanced proportional integral derivative (PID) structure in the presence of one or more actuator faults. Design/methodology/approach Mathematical model of the quadrotor is derived by parameter identification of the system for the simulation of the UAV dynamics and flight control in MATLAB/Simulink. An improved PID structure is used to provide the stability of the nonlinear quadcopter system both for attitude and path control of the system. The results of the healty system and the faulty system are given in simulations, together with motor dynamics. Findings In this study, actuator faults are considered to show that a robust controller design handles the loss of effectiveness in motors up to some extent. For the loss of control effectiveness of 20 per cent in first and third motors, psi state follows the reference with steady state error, and it does not go unstable. Motor 1 and Motor 3 respond to given motor fault quickly. When it comes to one actuator fault, steady state errors remain in some states, but the system does not become unstable. Originality/value In this paper, an enhanced PID controller is proposed to keep the quadrotor stable in case of actuator faults. Proposed method demonstrates the effectiveness of the control system against motor faults.

scholarly journals Adaptive Fault-Tolerant Control for Flight Systems with Input Saturation and Model Mismatch

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Man Wang ◽  
Jianying Yang ◽  
Nan Li
Keyword(s):  
Flight Control ◽  
Control Method ◽  
Reference Model ◽  
Fault Tolerant ◽  
Input Saturation ◽  
Fault Tolerant Control ◽  
Weighting Matrix ◽  
Actuator Failures ◽  
Model Mismatch ◽  
Model Reference Adaptive

A novel scheme for fault-tolerant control is proposed in this paper, in which model reference adaptive control method is incorporated with control allocation to cope with simultaneous actuator failures, input saturation, and model mismatch in the flight system. In order to reduce performance degradation caused by actuator failures, the proposed scheme redistributes the control signal to healthy actuators and updates the weighting matrix based on actuator effectiveness. Because of saturation errors resulting from actuator constraints and model mismatch caused by abnormal changes in the system, the original reference model may not be appropriate. Under this circumstance, an adaptive reference model which can also provide satisfactory performance is designed. Simulations of a flight control example are given to illustrate the effectiveness of the proposed scheme.

Simplified GPS model for UAV fault tolerant control laws design

2015 ◽  
Vol 3 (1) ◽  
pp. 39-60 ◽  
Author(s):  
Ghassan Al-Sinbol ◽  
Mario G Perhinschi ◽  
Brenton K Wilburn
Keyword(s):  
Flight Control ◽  
Fault Tolerant ◽  
Research Effort ◽  
Fault Tolerant Control ◽  
West Virginia University ◽  
Control Laws ◽  
Content Type ◽  
Autonomous Flight ◽  
Operational Conditions ◽  
Simulation Tools

Purpose – A simplified global positioning system (GPS) error model including models for a variety of abnormal operational conditions and failures is developed to provide simulation tools for the design, testing, and evaluation of autonomous flight fault tolerant control laws. The paper aims to discuss these issues. Design/methodology/approach – Analysis and experimental data are used to build simplified models for GPS position and velocity errors on all three channels. The GPS model is interfaced with West Virginia University unmanned aerial vehicles (UAV) simulation environment and its utility demonstrated through simulation for several autonomous flight scenarios including GPS abnormal operation. Findings – The proposed simplified GPS model achieves desirable levels of accuracy and realism for all components for the purpose of general UAV dynamic simulation and development of fault tolerant autonomous flight control laws. Research limitations/implications – The simplified GPS model allows investigating GPS malfunction effects on the performance of autonomous UAVs and designing trajectory tracking algorithms with advanced fault tolerant capabilities. Practical implications – The simplified GPS model has proved to be a flexible and useful tool for UAV simulation and design of autonomous flight control laws at normal and abnormal conditions. Originality/value – The outcomes of this research effort achieve a level of detail never attempted before in modeling GPS operation at normal and abnormal conditions for UAV simulation and autonomous flight control laws design using a simplified framework.

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

2021 ◽  
pp. 095441002199954
Author(s):  
Dinesh D Dhadekar ◽  
S E Talole
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
External Disturbances ◽  
Detection And Identification ◽  
Attitude Tracking ◽  
Fault Detection And Identification ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

scholarly journals Sliding Mode Fault Tolerant Control for Unmanned Aerial Vehicle with Sensor and Actuator Faults

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 643 ◽  
Author(s):  
Juan Tan ◽  
Yonghua Fan ◽  
Pengpeng Yan ◽  
Chun Wang ◽  
Hao Feng
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Health Management ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Control Process ◽  
Fault Tolerant Control ◽  
Accelerometer Sensor ◽  
Actuator Failures ◽  
Aerial Vehicle ◽  
Gyroscope Sensor

The unmanned aerial vehicle (UAV) has been developing rapidly recently, and the safety and the reliability of the UAV are significant to the mission execution and the life of UAV. Sensor and actuator failures of a UAV are one of the most common malfunctions, threating the safety and life of the UAV. Fault-tolerant control technology is an effective method to improve the reliability and safety of UAV, which also contributes to vehicle health management (VHM). This paper deals with the sliding mode fault-tolerant control of the UAV, considering the failures of sensor and actuator. Firstly, a terminal sliding surface is designed to ensure the state of the system on the sliding mode surface throughout the control process based on the simplified coupling dynamic model. Then, the sliding mode control (SMC) method combined with the RBF neural network algorithm is used to design the parameters of the sliding mode controller, and with this, the efficiency of the design process is improved and system chattering is minimized. Finally, the Simulink simulations are carried out using a fault tolerance controller under the conditions where accelerometer sensor, gyroscope sensor or actuator failures is assumed. The results show that the proposed control strategy is quite an effective method for the control of UAVs with accelerometer sensor, gyroscope sensor or actuator failures.

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