Typical Fault Estimation and Dynamic Analysis of a Leader-Follower Unmanned Aerial Vehicle Formation
Typical Fault Estimation and Dynamic Analysis of a Leader-Follower Unmanned Aerial Vehicle Formation
复制标题
主从无人机编队典型故障估计与动态分析
DOI：
10.1155/2021/6656422
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发表时间：
2021-03
影响因子：
1.4
通讯作者：
Chen Pengyun
中科院分区：
文献类型：
--
作者：
Shen Jian;Zhu Qingyu;Wang Xiaoguang;Chen Pengyun
针对带外干扰的主从式无人机编队飞行系统，提出了典型故障估计和动态分析方法。首先，建立了无人机编队比例导引（PNG）控制的动力学模型。然后，采用中间观测器设计方法，同时估计系统的状态和故障。基于图论，分析了无人机编队中各节点之间的拓扑关系。估计器和系统误差已经创建。此外，还讨论了无人机系统的典型故障，包括部件故障、机体损坏、通信故障、编队碰撞和环境影响。基于容错策略，从故障估计、动态扰动和编队协同控制的角度，提出了五种常见的故障模型。通过对状态和故障估计结果的分析，可以在元件故障和风干扰的情况下精确估计执行器故障。在此基础上，讨论了无人机编队飞行的基本动力学特性。此外，两个案例的比较有关的风干扰已经完成，以验证故障估计器和控制器的性能。仿真结果验证了本文提出的无人机系统故障估计和动态控制策略的可靠性和适用性。最后，从容错控制、动力学建模和多故障估计的角度对无人机编队预测健康管理系统进行了扩展。
In this paper, the typical fault estimation and dynamic analysis are presented for a leader-follower unmanned aerial vehicle (UAV) formation system with external disturbances. Firstly, a dynamic model with proportional navigation guidance (PNG) control of the UAV formation is built. Then, an intermediate observer design method is adopted to estimate the system states and faults simultaneously. Based on the graph theory, the topology relationship between each node in the UAV formation has been also analyzed. The estimator and the system error have been created. Moreover, the typical faults, including the components failure, airframe damage, communication failure, formation collision, and environmental impact, are also discussed for the UAV system. Based on the fault-tolerant strategy, five familiar fault models are proposed from the perspectives of fault estimation, dynamical disturbances, and formation cooperative control. With an analysis of the results of states and faults estimation, the actuator faults can be estimated precisely with component failure and wind disturbances. Furthermore, the basic dynamic characteristics of the UAV formation are discussed. Besides, a comparison of two cases related to the wind disturbance has been accomplished to verify the performance of the fault estimator and controller. The results illustrate the credibility and applicability of the fault estimation and dynamic control strategies for the UAV system which are proposed in this paper. Finally, an extension about the UAV formation prognostic health management system is expounded from the point of view of the fault-tolerant control, dynamic modeling, and multifault estimation.
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影响因子：
4.2
作者：
Zhu, Jun-Wei;Yang, Guang-Hong
通讯作者：
Yang, Guang-Hong
针对未知执行器故障和多重扰动的线性系统，改进的基于扰动观测器的容错控制
影响因子：
2.1
作者：
Lin Xue;Yao Xiuming
通讯作者：
Yao Xiuming
DOI：
10.1109/iecon.2017.8216539
发表时间：
2017-10
期刊：
IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
影响因子：
--
作者：
Bai-Qing Fan;Xiao Zhang;Bo Tian;Lei Guo
通讯作者：
Bai-Qing Fan;Xiao Zhang;Bo Tian;Lei Guo
DOI：
10.1109/iccar.2016.7486724
发表时间：
2016-04
期刊：
2020 3rd International Conference on Unmanned Systems (ICUS)
影响因子：
--
作者：
Yanbin Xiao;Y. Fu;Chengfu Wu;Pengyuan Shao
通讯作者：
Yanbin Xiao;Y. Fu;Chengfu Wu;Pengyuan Shao
影响因子：
1.4
作者：
Labbadi, Moussa;Cherkaoui, Mohamed
通讯作者：
Cherkaoui, Mohamed