Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance

A multi-UAV, random disturbance technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as research results that have not yet appeared

Active Publication Date: 2016-01-13
SHANDONG UNIV OF SCI & TECH
View PDF6 Cites 24 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are no research results in this area

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance
  • Non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance
  • Non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0052] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0053] Such as figure 1 As shown, the nonlinear multi-UAV system fault-tolerant formation control method considering random disturbance includes the following steps:

[0054] a Construct a nonlinear stochastic dynamic model of the UAV, and use the model and the given information of the reference trajectory and the information interaction between neighboring UAVs to obtain the output measurement information of each UAV.

[0055] Considering the nonlinear dynamic characteristics of UAV, external disturbance, measurement noise and channel interference, the nonlinear stochastic dynamic model of the i-th UAV is constructed as follows:

[0056] x · i ( ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance. The method comprises the following steps that: a non-linear random dynamic model of an unmanned aerial vehicle is constructed and output measurement data of each unmanned aerial vehicle are obtained based on the model as well as reference track given information and information interaction between neighboring unmanned aerial vehicles; on the basis of the data, a distributed state observer and an adaptive fault estimator are designed for each unmanned aerial vehicle and on-line estimation is carried out on state information and fault information of the unmanned aerial vehicle; a fault-tolerant controller is designed by using the real-time state and the fault estimation information, so that a system formation error, a state estimation error, and a fault estimation error are converged to a controllable error bound; and then correlated parameters of the distributed state observer, the adaptive fault estimator, and the fault-tolerant controller are determined. According to the invention, a problem of fault estimation and fault-tolerance formation control of a non-linear unmanned aerial vehicle group with existence of interference, noises and channel disturbance can be solved effectively.

Description

technical field [0001] The invention belongs to the field of dynamic system state monitoring and fault-tolerant control, and in particular relates to a fault-tolerant formation control method for a non-linear multi-unmanned aerial vehicle system considering random disturbances. Background technique [0002] With the development of single-chip microcomputer and wireless communication technology, the cooperative formation control of multi-UAV system has gradually attracted more and more research interests, and a large number of related research results have been published. The cooperation between different individuals in the formation system will greatly improve the behavioral ability and better complete the work that is difficult for a single individual; at the same time, this type of system has the advantages of high operating efficiency, good fault tolerance and strong scalability. Compared with centralized systems, formation systems are typically distributed systems with a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05B13/04G05D1/10
Inventor 周东华史建涛何潇卢晓
Owner SHANDONG UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com