Failsafe mechanism design of multicopters based on supervisory control theory
In order to handle undesirable failures of a multicopter, which occurs in either the pre-flight process or the in-flight process, a failsafe mechanism design method based on supervisory control theory (SCT) is proposed for the semi-autonomous control mode. The failsafe mechanism is a control logic t...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | IET Cyber-systems and Robotics |
| Subjects: | |
| Online Access: | https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2019.0039 |
| _version_ | 1818612140131483648 |
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| author | Quan Quan Zhiyao Zhao Zhiyao Zhao Liyong Lin Peng Wang Walter Murray Wonham Kai-Yuan Cai |
| author_facet | Quan Quan Zhiyao Zhao Zhiyao Zhao Liyong Lin Peng Wang Walter Murray Wonham Kai-Yuan Cai |
| author_sort | Quan Quan |
| collection | DOAJ |
| description | In order to handle undesirable failures of a multicopter, which occurs in either the pre-flight process or the in-flight process, a failsafe mechanism design method based on supervisory control theory (SCT) is proposed for the semi-autonomous control mode. The failsafe mechanism is a control logic that guides what subsequent actions the multicopter should take, by taking account of real-time information from guidance, attitude control, diagnosis and other low-level subsystems. In order to design a failsafe mechanism for the multicopters, safety issues of the multicopters are introduced. Then, user requirements including functional requirements and safety requirements are textually described, where functional requirements guide the modelling of a general multicopter plant, and safety requirements cover the failsafe measures dealing with the presented safety issues. Based on these requirements, several multicopter modes and events are defined. On this basis, the multicopter plant and control specifications are modelled by automata. Then, a supervisor is synthesized by using SCT. In addition, the authors present three examples to demonstrate the potential conflicting phenomena due to the inappropriate design of control specifications. Finally, based on the obtained supervisor, an implementation method suitable for multicopters is presented, in which the supervisor is transformed into decision-making codes. |
| first_indexed | 2024-12-16T15:41:29Z |
| format | Article |
| id | doaj.art-184d4f803b8448b3ad97c7906ae1e626 |
| institution | Directory Open Access Journal |
| issn | 2631-6315 |
| language | English |
| last_indexed | 2024-12-16T15:41:29Z |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Cyber-systems and Robotics |
| spelling | doaj.art-184d4f803b8448b3ad97c7906ae1e6262022-12-21T22:25:58ZengWileyIET Cyber-systems and Robotics2631-63152020-01-0110.1049/iet-csr.2019.0039IET-CSR.2019.0039Failsafe mechanism design of multicopters based on supervisory control theoryQuan Quan0Zhiyao Zhao1Zhiyao Zhao2Liyong Lin3Peng Wang4Walter Murray Wonham5Kai-Yuan Cai6School of Automation Science and Electrical Engineering, Beihang UniversitySchool of Computer and Information Engineering, Beijing Technology and Business UniversitySchool of Computer and Information Engineering, Beijing Technology and Business UniversityUniversity of TorontoSchool of Automation Science and Electrical Engineering, Beihang UniversityUniversity of TorontoSchool of Automation Science and Electrical Engineering, Beihang UniversityIn order to handle undesirable failures of a multicopter, which occurs in either the pre-flight process or the in-flight process, a failsafe mechanism design method based on supervisory control theory (SCT) is proposed for the semi-autonomous control mode. The failsafe mechanism is a control logic that guides what subsequent actions the multicopter should take, by taking account of real-time information from guidance, attitude control, diagnosis and other low-level subsystems. In order to design a failsafe mechanism for the multicopters, safety issues of the multicopters are introduced. Then, user requirements including functional requirements and safety requirements are textually described, where functional requirements guide the modelling of a general multicopter plant, and safety requirements cover the failsafe measures dealing with the presented safety issues. Based on these requirements, several multicopter modes and events are defined. On this basis, the multicopter plant and control specifications are modelled by automata. Then, a supervisor is synthesized by using SCT. In addition, the authors present three examples to demonstrate the potential conflicting phenomena due to the inappropriate design of control specifications. Finally, based on the obtained supervisor, an implementation method suitable for multicopters is presented, in which the supervisor is transformed into decision-making codes.https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2019.0039aerospace simulationformal specificationattitude controlcontrol engineering computingautonomous aerial vehiclesmobile robotsdiscrete event systemsremotely operated vehiclescontrol system synthesisdesign engineeringhelicopterssemiautonomous control modehigh-level control modesfull-autonomous controlfully autonomous control modecontrol logicattitude controlgeneral multicopter plantmulticopter modescontrol specificationsdesigned failsafe mechanismsupervisory control theoryfailsafe mechanism design methodsct |
| spellingShingle | Quan Quan Zhiyao Zhao Zhiyao Zhao Liyong Lin Peng Wang Walter Murray Wonham Kai-Yuan Cai Failsafe mechanism design of multicopters based on supervisory control theory IET Cyber-systems and Robotics aerospace simulation formal specification attitude control control engineering computing autonomous aerial vehicles mobile robots discrete event systems remotely operated vehicles control system synthesis design engineering helicopters semiautonomous control mode high-level control modes full-autonomous control fully autonomous control mode control logic attitude control general multicopter plant multicopter modes control specifications designed failsafe mechanism supervisory control theory failsafe mechanism design method sct |
| title | Failsafe mechanism design of multicopters based on supervisory control theory |
| title_full | Failsafe mechanism design of multicopters based on supervisory control theory |
| title_fullStr | Failsafe mechanism design of multicopters based on supervisory control theory |
| title_full_unstemmed | Failsafe mechanism design of multicopters based on supervisory control theory |
| title_short | Failsafe mechanism design of multicopters based on supervisory control theory |
| title_sort | failsafe mechanism design of multicopters based on supervisory control theory |
| topic | aerospace simulation formal specification attitude control control engineering computing autonomous aerial vehicles mobile robots discrete event systems remotely operated vehicles control system synthesis design engineering helicopters semiautonomous control mode high-level control modes full-autonomous control fully autonomous control mode control logic attitude control general multicopter plant multicopter modes control specifications designed failsafe mechanism supervisory control theory failsafe mechanism design method sct |
| url | https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2019.0039 |
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