Unmanned aerial vehicle formation system fault detection method based on interval observer

A fault detection and unmanned aerial vehicle technology, applied in the field of multi-agent systems, can solve the problems of ignoring the uncertainty of system modeling, nonlinear observer matching conditions, etc.

Active Publication Date: 2019-06-14
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

In the existing research results, many assumptions need to be considered, such as ignorin

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  • Unmanned aerial vehicle formation system fault detection method based on interval observer
  • Unmanned aerial vehicle formation system fault detection method based on interval observer
  • Unmanned aerial vehicle formation system fault detection method based on interval observer

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Embodiment Construction

[0075] The invention will be further described below in conjunction with the accompanying drawings and specific examples.

[0076] The invention takes a certain vertical take-off and landing UAV model as the implementation object, and proposes a fault detection method based on an interval observer for actuator faults occurring in UAV formation control. Compared with traditional fault detection methods , the fault detection method does not need threshold generator and residual evaluation function, which greatly reduces the conservatism of observer design.

[0077] The implementation example model of the present invention refers to the article "Adaptive observer-based fast fault estimation" by Professor Jiang Bin of Nanjing University of Aeronautics and Astronautics, as follows:

[0078]

[0079] the y i (t)=Cx i (t)

[0080] where x i (t)=[V h V v q θ] T is the state vector of each UAV, where V h , V v , q, θ respectively represent the horizontal component, vertic...

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Abstract

For an unmanned aerial vehicle formation system, the invention provides a fault detection method based on an interval observer, and belongs to the technical field of security and reliability. Firstly,when unmanned aerial vehicle formation is in a fault-free state, the interval observer is established based on known bounded disturbance and relative output errors; the fault of an executor is detected through a residual error obtained by output estimation error; compared with the traditional fault detection, a threshold value generator and a residual evaluation function are not required in the fault detection method based on the interval observer; the method in the invention is mainly used for solving the fault detection problem of an unmanned aerial vehicle formation executor, and has relatively low conservative property and relatively high adaptation; the fault detection requirement of the executor can be well satisfied.

Description

technical field [0001] The invention relates to a fault detection method for an unmanned aerial vehicle formation system based on an interval observer, and belongs to the technical field of multi-agent systems. Background technique [0002] In recent years, with the development of technologies such as computers and communication networks, especially in the fields of resource exploration, earthquake rescue, environmental monitoring, battlefield reconnaissance, etc., the application of drone formations has become more and more extensive. Compared with a single UAV, the UAV formation system has unparalleled advantages in cost, robustness, redundancy and efficiency. [0003] The internal structure of the UAV is complex, and external interference needs to be considered, which poses a great challenge to the successful completion of the mission of the UAV. When a UAV in a formation fails, the failure will spread to other healthy aircraft in the formation network, which will cause ...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 印磊刘剑慰杨蒲
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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