Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind Disturbances
Fault detection (FD) and fault-tolerant cooperative control (FTCC) strategies are proposed in this paper for multiple fixed-wing unmanned aerial vehicles (UAVs) under actuator faults, sensor faults, and wind disturbances. Firstly, the faulty model is introduced while the effectiveness loss, deviatio...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/7/8/503 |
| _version_ | 1797585005633863680 |
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| author | Zhongyu Yang Mengna Li Ziquan Yu Yuehua Cheng Guili Xu Youmin Zhang |
| author_facet | Zhongyu Yang Mengna Li Ziquan Yu Yuehua Cheng Guili Xu Youmin Zhang |
| author_sort | Zhongyu Yang |
| collection | DOAJ |
| description | Fault detection (FD) and fault-tolerant cooperative control (FTCC) strategies are proposed in this paper for multiple fixed-wing unmanned aerial vehicles (UAVs) under actuator faults, sensor faults, and wind disturbances. Firstly, the faulty model is introduced while the effectiveness loss, deviation of thrust throttle setting, and pitot sensor faults are considered. Secondly, the faulty UAV model with wind disturbances is linearized and the system is then converted into two subsystems by using state and output transformations. Further, cooperative unknown input observers (UIOs) are developed to estimate the faults, disturbances, and states. By combining with the observers’ estimations, adaptive thresholds are designed to detect actuator and sensor faults in the system. Then, considering state constraints, a backstepping-based FTCC scheme is proposed for multiple UAVs (multi-UAVs) suffering from actuator faults, sensor faults, and wind disturbances. It is shown by Lyapunov analysis that the tracking errors are fixed-time convergent. Finally, the effectiveness of the FD and FTCC scheme is verified by numerical simulation. |
| first_indexed | 2024-03-11T00:00:34Z |
| format | Article |
| id | doaj.art-c681935b35194e419ab8ef7f17a6460f |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-11T00:00:34Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-c681935b35194e419ab8ef7f17a6460f2023-11-19T00:50:15ZengMDPI AGDrones2504-446X2023-08-017850310.3390/drones7080503Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind DisturbancesZhongyu Yang0Mengna Li1Ziquan Yu2Yuehua Cheng3Guili Xu4Youmin Zhang5College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaMechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC H3G 1M8, CanadaFault detection (FD) and fault-tolerant cooperative control (FTCC) strategies are proposed in this paper for multiple fixed-wing unmanned aerial vehicles (UAVs) under actuator faults, sensor faults, and wind disturbances. Firstly, the faulty model is introduced while the effectiveness loss, deviation of thrust throttle setting, and pitot sensor faults are considered. Secondly, the faulty UAV model with wind disturbances is linearized and the system is then converted into two subsystems by using state and output transformations. Further, cooperative unknown input observers (UIOs) are developed to estimate the faults, disturbances, and states. By combining with the observers’ estimations, adaptive thresholds are designed to detect actuator and sensor faults in the system. Then, considering state constraints, a backstepping-based FTCC scheme is proposed for multiple UAVs (multi-UAVs) suffering from actuator faults, sensor faults, and wind disturbances. It is shown by Lyapunov analysis that the tracking errors are fixed-time convergent. Finally, the effectiveness of the FD and FTCC scheme is verified by numerical simulation.https://www.mdpi.com/2504-446X/7/8/503fault detectionfault-tolerant cooperative controlsensor faultactuator faultwind disturbance |
| spellingShingle | Zhongyu Yang Mengna Li Ziquan Yu Yuehua Cheng Guili Xu Youmin Zhang Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind Disturbances Drones fault detection fault-tolerant cooperative control sensor fault actuator fault wind disturbance |
| title | Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind Disturbances |
| title_full | Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind Disturbances |
| title_fullStr | Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind Disturbances |
| title_full_unstemmed | Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind Disturbances |
| title_short | Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind Disturbances |
| title_sort | fault detection and fault tolerant cooperative control of multi uavs under actuator faults sensor faults and wind disturbances |
| topic | fault detection fault-tolerant cooperative control sensor fault actuator fault wind disturbance |
| url | https://www.mdpi.com/2504-446X/7/8/503 |
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