Abstract
The paper addresses the formation control of unmanned aerial vehicles (UAVs) in the presence of permanent and intermittent faults in each UAV. A fault tolerant control (FTC) scheme is developed to accommodate the permanent fault. It further shows that for the intermittent fault, the formation stability can be maintained under some conditions of fault appearance and disappearance without requiring to take any FTC action. Simulation results show the efficiency of the proposed method.
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
References
Reyna, V.P.: Automation of Formation Flight Control. Air Force Inst of Tech Wright-Patterson AFB OH School of Engineering (1994)
Giulietti, F., Pollini, L, Innocenti, M.: Autonomous formation flight. IEEE Contr. Syst. Mag. 20(6), 34–44 (2000)
Pachter, M., Huang, Y.S.: Fault tolerant flight control. J. Guid. Control Dyn. 26(1), 151–160 (2003)
Song, Y.D.: Fault-tolerant and reconfigurable control of unmanned aerial vehicles (UAVS). North Carolina Agricultural and Technial State University, Dept. of Electrical Engineering, Greensboro (2008)
Ye, D., Yang, G.H.: Adaptive fault-tolerant tracking control against actuator faults. In: Proceedings of the 2006 American Control Conference Minneapolis, Minnesota, USA (2006)
Ye, D., Yang, G.H.: Adaptive fault-tolerant tracking control against actuator faults with application to flight control. IEEE Trans. Control Syst. Technol. 14(6), 1088–1096 (2006)
Zhang, X.N., Wang, J.L., Yang, G.H.: Adaptive fault-tolerant tracking controller design against actuator stuck faults. In: 2012 24th Chinese Control and Decision Conference (CCDC) (2012)
Ismaeel, A., Bhatnagar, R.: Test for detection & location of intermittent faults in combinational circuits. IEEE Trans. Reliab. 46(2), 269–274 (1997)
Hsu, Y.T., Hsu, C.F.: Novel model of intermittent faults for reliability and safety measures in long-life computer systems. Int. J. Electron. 71(6), 917–937 (1991)
Su, S., Koren, Y.H., Malaiya, Y.K.: A continuous-parameter Markov model and detection procedures for intermittent faults. IEEE Trans. Comput. C-27(6), 567–570 (1978)
Breuer, M.A.: Testing for intermittent faults in digital circuits. IEEE Trans. Comput. C-22, 241–246 (1973)
Kamal, S., Page, C.V.: Intermittent faults: a model and a detection procedure. IEEE Trans. Comput. C-23, 713–719 (1974)
Chen, W., Chowdhury, N.: Design of sliding mode observers with sensitivity to incipient faults. In: 16th IEEE International Conference on Control Applications Part of IEEE Multi-Conference on Systems and Control Singapore (2007)
Xie, L.H.: Output feedback control of systems with parameter uncertainty. Int. J. Control 63(4), 741–750 (1996)
Parzen, E.: Stochastic Processes. Holden, New York (1962)
Skorohod, A.V.: Asymptotic methods in the theory of stochastic differential equations. American Mathematical Society (2009)
Yang, H., Jiang, B., Zhang, Y.: Tolerance of intermittent faults in spacecraft attitude control: switched system approach. IET Control Theory Appl. 6(13), 2049–2056 (2012)
Tamas, K., Balint, V., Francesco, B.: Hybrid decentralized receding horizon control of vehicle formations. In: Proceedings of the 2006 American Control Conference Minneapolis, Minnesota, USA (2006)
Sun, F.L., Guan, Z.H., Zhang, X.H., Chen, J.C.: Exponential-weighted input-to-state stability of hybrid impulsive switched systems. IET Control Theory Appl. 6(3), 430–436 (2012)
Lars, G.: Input-to-state dynamical stability and its Lyapunov function characterization. IEEE Trans. Autom. Control 47(9), 1499–1504 (2002)
Nima, Y., Pierdomenico, P., Michel, D.: Input-to-state stability of time-delay systems: a link with exponential stability. IEEE Trans. Autom. Control 53, 6 (2008)
Zhou, Z., Yang, C., Zhang, Q., Cai, M.: Brief paper Input-to-state stability for descriptor systems with non-linear perturbations. IET Control Theory Appl. 5(13), 1561–1567 (2010)
Xuerong, M.: Stability of stochastic differential equations with Markovian switching. Stoch. Process. Appl. 79(1), 45–67 (1999)
Yang, H., Jiang, B., Cocquempot, V.: Fault Tolerant Control Design for Hybrid Systems. Lecture Notes in Control and Information Sciences, vol. 397 (Paperback)
Pachpatte, B.G.: A note on Gronwall-Bellman inequality. J. Math. Anal. Appl. 44(3), 758–762 (1973)
Author information
Authors and Affiliations
Corresponding author
Additional information
This work is supported by National Natural Science Foundation of China (61034005, 61104116, 61273171, 61210012), and Doctoral Found of Ministry of Education of China (20113218110011).
Rights and permissions
Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited.
About this article
Cite this article
Xu, Q., Yang, H., Jiang, B. et al. Fault Tolerant Formations Control of UAVs Subject to Permanent and Intermittent Faults. J Intell Robot Syst 73, 589–602 (2014). https://doi.org/10.1007/s10846-013-9951-2
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-013-9951-2