"Development and Validation of Fault-tolerant and Cooperative Guidance, Navigation and Control Techniques with Unmanned Systems"

“无人系统容错协作制导、导航和控制技术的开发和验证”

• 批准号: 341915-2012
• 负责人: Zhang, Youmin
• 金额: $ 1.89万
• 依托单位: Concordia University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=572412
• 关键词: Development; Validation; Fault; tolerant; Cooperative

When a passenger decides to take Airbus A380 or Boeing 747/787 airplane for an international travel, what is the main concern by the passenger? You will agree that the most important concern is the "safety" of the airplane. What if a passenger sits on an unmanned aerial vehicle (UAV)? You will get the same answer again: "safety". Then the next question will arise naturally, how to guarantee the safety of these manned and unmanned aerial vehicles by designing a reliable automatic controller? This is a topic called "fault-tolerant control" of these aerial vehicles. Such systems with fault tolerance capability are called "fault-tolerant control systems". From TV news, we also hear very offen about some natural disasters occurred in different places in the world such as earthquakes, volcanoes, forest fires, flood, and nuclear reactor malfunction etc. For these dangerous and uncontrollable environments, it is difficult or unsafe to send personnel and manned systems to deal with the disasters. Therefore, unmanned systems including unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) become useful and more and more popular in today's life. With a group of UAVs/UGVs, we can complete certain difficult missions which cannot be completed with a single vehicle. In this case, "cooperative control" among the group of UAVs/UGVs becomes necessary. What if during the mission, one or more UAVs/UGVs fail to operate as expected due to system malfunctions, damages, communication delays or message dropouts? This will rise up an emerging issue of so-called "fault-tolerant cooperative control". The objective of this proposal is to develop useful and practical techniques for providing possible solutions to the above-mentioned issues and applications. In another words, the main task of this project is to develop fault-tolerant and cooperative guidance, navigation and control techniques based on experimental testing of a set of fixed-wing and rotary-wing UAVs and a set of UGVs under some of the above-mentioned application scenarios in such a cutting-edge research and development area.

当乘客决定乘坐空中客车A380或波音747/787飞机进行国际旅行时，乘客的主要关注点是什么？您会同意，最重要的问题是飞机的“安全性”。如果乘客坐在无人机（UAV）上怎么办？您将再次得到相同的答案：“安全”。然后，下一个问题将自然出现，如何通过设计可靠的自动控制器来确保这些载人和无人驾驶飞机的安全性？这是这些航空车的“容忍故障控制”的主题。这种具有容错能力的系统称为“容忍故障控制系统”。 从电视新闻中，我们还听到了一些关于某些自然灾害发生的事情，发生在世界上不同的地方，例如地震，火山，森林大火，洪水和核反应堆故障等。对于这些危险且无法控制的环境，很难或不安全或不安全，很难派遣人员和载人系统来处理灾难。因此，包括无人驾驶汽车（UAV）和无人接地车辆（UGV）在内的无人系统在当今生活中变得有用，越来越受欢迎。有了一组无人机/UGV，我们可以完成某些难以使用一辆车辆完成的困难任务。在这种情况下，无人机/UGV组之间的“合作控制”是必要的。如果在任务中，由于系统故障，损坏，通信延迟或消息辍学，一个或多个无人机/UGV无法按预期运行该怎么办？这将引起所谓的“容忍断层合作控制”的新兴问题。 该提案的目的是开发有用且实用的技术来为上述问题和应用提供可能的解决方案。另外，该项目的主要任务是基于对一组固定翼和旋转翼无人机的实验测试，在此类尖端的研究和开发领域中，基于对一组固定翼和旋转武器无人机的实验测试以及一组UGV的实验测试以及一组UGV。