Robust Fault-Tolerant Control for Underactuated Takeoff and Landing UAVs

Zou, Yao; Xia, Kewei

doi:10.1109/taes.2020.2975446

Cited by 35 publications

(19 citation statements)

References 32 publications

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“…In [90], a robust FTC scheme is presented for a VTOL aerial vehicle subject to both thrust and torque failures and also disturbances. The algorithm was developed by applying the hierarchical system stability theory.…”

Section: Fault Tolerant Control Methods In Uavsmentioning

confidence: 99%

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

Fourlas

Karras

2021

Machines

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The continuous evolution of modern technology has led to the creation of increasingly complex and advanced systems. This has been also reflected in the technology of Unmanned Aerial Vehicles (UAVs), where the growing demand for more reliable performance necessitates the development of sophisticated techniques that provide fault diagnosis and fault tolerance in a timely and accurate manner. Typically, a UAV consists of three types of subsystems: actuators, main structure and sensors. Therefore, a fault-monitoring system must be specifically designed to supervise and debug each of these subsystems, so that any faults can be addressed before they lead to disastrous consequences. In this survey article, we provide a detailed overview of recent advances and studies regarding fault diagnosis, Fault-Tolerant Control (FTC) and anomaly detection for UAVs. Concerning fault diagnosis, our interest is mainly focused on sensors and actuators, as these subsystems are mostly prone to faults, while their healthy operation usually ensures the smooth and reliable performance of the aerial vehicle.

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Section: Fault Tolerant Control Methods In Uavsmentioning

confidence: 99%

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

Fourlas

Karras

2021

Machines

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“…However, the USS has a higher failure rate than the traditional distributed system and is susceptible to an uncertain environment, which exacerbates the problem of single‐point failure. The existing researches on fault tolerance of multi‐UAVs mainly focus on formation control, 24‐27 take‐off and landing, 28 position and attitude tracking, 29 and so on, which handle actuator faults, aerodynamic parameter perturbations, wind disturbances, wake vortices, and other factors, while this paper investigates the fault‐tolerant problem of node faults in system management of UAV swarm, which focus on the problem of single‐point failure. Redundant backups are often used in traditional distributed systems to handle the problem of single‐point failure.…”

Section: Related Workmentioning

confidence: 99%

A distributed fault‐tolerant mechanism for mission‐oriented unmanned aerial vehicle swarms

Wang

Chen

2021

Int J Communication

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Summary Unmanned aerial vehicle (UAV) swarm consists of a number of autonomous and collaborative UAV nodes. The purpose of the research is to address the hypotheses: an efficient centralized resources management scheme should be adopted to meet the mission‐oriented feature of UAV swarms, while a distributed fault‐tolerant mechanism should be adopted to meet the characteristics of complex environment and address the issue of high failure rate of UAV nodes. By using an experimental modeling method, this paper proposes a management model and related mechanisms fitting for UAV swarms with the feature of “centralized decision making and distributed task execution.” The model allows UAV nodes to manage their own resources autonomously and execute centralized decisions accordingly. The advantage of the model is that the master node of a UAV swarm is able to perceive all the resources of the system and the status of all (or some) of the UAVs efficiently; therefore, it provides a supportive environment for the UAV swarm application to make centralized decisions and optimize those decisions. Additionally, this paper proposes a distributed fault‐tolerant model and related mechanisms to address the issue of high failure rate of UAV nodes, as well as the system vulnerability caused by harsh environment. Finally, this study developed a prototype system designed and implemented by OMNeT++ to confirm the truth of the hypotheses. The analysis of the experimental data and simulation results of the prototype validated the feasibility and usability of the distributed fault‐tolerant mechanism and demonstrated its value for the mission‐oriented UAV swarms.

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“…According to decryption (19) and state estimate calculation (25), (27) in the main text, the decryption and state estimate calculation of the attack-free system can be given as…”

Section: ) Performance Of Nipvsss Under No Attacksmentioning

confidence: 99%

Secure Control of Networked Control Systems Using Dynamic Watermarking

Du¹,

Zhang²,

Li³

et al. 2021

Preprint

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We here investigate secure control of networked control systems developing a new dynamic watermarking (DW) scheme. Firstly, the weaknesses of the conventional DW scheme are revealed, and the tradeoff between the effectiveness of false data injection attack (FDIA) detection and system performance loss is analysed. Secondly, we propose a new DW scheme, and its attack detection capability is interrogated using the additive distortion power of a closed-loop system. Furthermore, the FDIA detection effectiveness of the closed-loop system is analysed using auto/cross covariance of the signals, where the positive correlation between the FDIA detection effectiveness and the watermarking intensity is measured. Thirdly, the tolerance capacity of FDIA against the closed-loop system is investigated, and theoretical analysis shows that the system performance can be recovered from FDIA using our new DW scheme. Finally, experimental results from a networked inverted pendulum system demonstrate the validity of our proposed scheme.

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Robust Fault-Tolerant Control for Underactuated Takeoff and Landing UAVs

Cited by 35 publications

References 32 publications

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

A distributed fault‐tolerant mechanism for mission‐oriented unmanned aerial vehicle swarms

Secure Control of Networked Control Systems Using Dynamic Watermarking

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