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A Fault Detection Method for UAV Formation System 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 system modeling uncertainty, nonlinear observer matching conditions, etc., and achieve the effect of reducing conservatism

Active Publication Date: 2021-09-07
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 ignoring the uncertainty of system modeling, nonlinearity and observer matching conditions, etc.

Method used

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  • A Fault Detection Method for UAV Formation System Based on Interval Observer
  • A Fault Detection Method for UAV Formation System Based on Interval Observer
  • A Fault Detection Method for UAV Formation System Based on Interval Observer

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Embodiment Construction

[0076] The invention will be further described below in conjunction with the accompanying drawings and specific examples.

[0077] 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.

[0078] 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:

[0079]

[0080] the y i (t)=Cx i (t)

[0081] 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

The invention proposes a fault detection method for an interval observer aiming at an unmanned aerial vehicle formation system. It belongs to the technical field of safety and reliability. First, an interval observer is established based on known bounded disturbances and relative output errors when the UAV formation is in a fault-free state. The residual obtained by outputting the estimated error is used to detect actuator faults. The difference from traditional fault detection lies in that this fault detection method based on interval observer does not need threshold generator and residual evaluation function. The invention mainly solves the fault detection problem of the unmanned aerial vehicle formation actuator, has low conservatism and strong adaptability, and can well meet the requirements of actuator fault detection.

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 ...

Claims

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Application Information

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