Pub Date : 2022-04-18DOI: 10.1142/s2737480722500078
Zhou Xing, Jindou Jia, Kexin Guo, W. Jia, Xiang Yu
This paper proposes a fast adaptive fault estimator-based active fault-tolerant control strategy for a quadrotor UAV against multiple actuator faults. A fast adaptive fault estimation algorithm is designed to estimate the unknown actuator fault parameters. By synthesizing the fast adaptive fault estimator with the embedded control law, an active fault-tolerant control mechanism is established to compensate the adverse effects of multiple actuator faults. The effectiveness of the proposed strategy is validated through both numerical simulations and experimental tests.
{"title":"Fast Active Fault-Tolerant Control for a Quadrotor UAV Against Multiple Actuator Faults","authors":"Zhou Xing, Jindou Jia, Kexin Guo, W. Jia, Xiang Yu","doi":"10.1142/s2737480722500078","DOIUrl":"https://doi.org/10.1142/s2737480722500078","url":null,"abstract":"This paper proposes a fast adaptive fault estimator-based active fault-tolerant control strategy for a quadrotor UAV against multiple actuator faults. A fast adaptive fault estimation algorithm is designed to estimate the unknown actuator fault parameters. By synthesizing the fast adaptive fault estimator with the embedded control law, an active fault-tolerant control mechanism is established to compensate the adverse effects of multiple actuator faults. The effectiveness of the proposed strategy is validated through both numerical simulations and experimental tests.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"70 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74096817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-14DOI: 10.1142/s2737480722500054
Y. Shen, Mou Chen, Zixuan Zheng, Hongzhen Guo
In order to achieve a straight ballistic trajectory of missile and reduce the update frequency of the missile normal acceleration for the interception of maneuvering target, a backstepping-based parallel approaching guidance method is designed with nonlinear disturbance observer (NDO) technique and event-triggered (ET) mechanism in this paper. In order to suppress the adverse effect of target maneuver, the NDO is designed to estimate the target maneuvering acceleration. Then, the NDO-based backstepping method is used to obtain the normal acceleration of missile and realize the parallel approaching guidance. In order to reduce the update frequency of missile normal acceleration, the ET mechanism is employed in the parallel approaching guidance method. If the missile trajectory is relatively straight, the normal acceleration of missile remains unchanged. On the contrary, if the missile trajectory is not straight, the normal acceleration of missile is updated to make the missile trajectory straight. In this way, the ET-based parallel approaching guidance can be obtained. Furthermore, a determined method for the initial missile flight-path angle is proposed to keep the normal acceleration of missile at zero in the initial stage of interception. Besides, Lyapunov stability analysis method is used to prove that all signals in the closed-loop guidance system are uniformly ultimately bounded. Finally, simulation results show the effectiveness of the proposed guidance method.
{"title":"Event-Triggered-Backstepping-Based Parallel Approaching Guidance Method for Maneuvering Target Interception","authors":"Y. Shen, Mou Chen, Zixuan Zheng, Hongzhen Guo","doi":"10.1142/s2737480722500054","DOIUrl":"https://doi.org/10.1142/s2737480722500054","url":null,"abstract":"In order to achieve a straight ballistic trajectory of missile and reduce the update frequency of the missile normal acceleration for the interception of maneuvering target, a backstepping-based parallel approaching guidance method is designed with nonlinear disturbance observer (NDO) technique and event-triggered (ET) mechanism in this paper. In order to suppress the adverse effect of target maneuver, the NDO is designed to estimate the target maneuvering acceleration. Then, the NDO-based backstepping method is used to obtain the normal acceleration of missile and realize the parallel approaching guidance. In order to reduce the update frequency of missile normal acceleration, the ET mechanism is employed in the parallel approaching guidance method. If the missile trajectory is relatively straight, the normal acceleration of missile remains unchanged. On the contrary, if the missile trajectory is not straight, the normal acceleration of missile is updated to make the missile trajectory straight. In this way, the ET-based parallel approaching guidance can be obtained. Furthermore, a determined method for the initial missile flight-path angle is proposed to keep the normal acceleration of missile at zero in the initial stage of interception. Besides, Lyapunov stability analysis method is used to prove that all signals in the closed-loop guidance system are uniformly ultimately bounded. Finally, simulation results show the effectiveness of the proposed guidance method.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"18 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79217557","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-14DOI: 10.1142/s2737480722500030
Cong Wang, Zheng-yu Song
This paper describes the study of a powered-coast-powered guidance reconfiguration (PCPGR) method used to solve the autonomous rescue problem for the mission profile of a launch vehicle with a coasting phase when the thrust drop fault occurs in the first powered phase (FPP) of the final stage. We first described the constraints of the final stage and the construction of the PCP guidance problem. Then we evaluated the adaptability of the guidance reconfiguration (GR) offline with numerical optimization by adjusting the constraints of the FPP, the coast phase, and the second powered phase. To determine the fault state set where the rocket can enter the prescribed target orbit through the GR initiate, we proposed a Newton method-based rapid replanning method of the transfer orbit that transforms the complex multi-flight phase trajectory planning problem into a feasible transfer orbit search problem to produce a fast solution onboard. Combined with the adaptive adjustment of the coasting time and the iterative guidance mode, we realized the autonomous online rescue of the payload. The simulation results showed that the proposed method achieved a reliable and rapid solution and improved a launch vehicle’s adaptability to a thrust drop fault.
{"title":"Powered-Coast-Powered Guidance Reconfiguration Method of Launch Vehicle with Thrust Drop Fault","authors":"Cong Wang, Zheng-yu Song","doi":"10.1142/s2737480722500030","DOIUrl":"https://doi.org/10.1142/s2737480722500030","url":null,"abstract":"This paper describes the study of a powered-coast-powered guidance reconfiguration (PCPGR) method used to solve the autonomous rescue problem for the mission profile of a launch vehicle with a coasting phase when the thrust drop fault occurs in the first powered phase (FPP) of the final stage. We first described the constraints of the final stage and the construction of the PCP guidance problem. Then we evaluated the adaptability of the guidance reconfiguration (GR) offline with numerical optimization by adjusting the constraints of the FPP, the coast phase, and the second powered phase. To determine the fault state set where the rocket can enter the prescribed target orbit through the GR initiate, we proposed a Newton method-based rapid replanning method of the transfer orbit that transforms the complex multi-flight phase trajectory planning problem into a feasible transfer orbit search problem to produce a fast solution onboard. Combined with the adaptive adjustment of the coasting time and the iterative guidance mode, we realized the autonomous online rescue of the payload. The simulation results showed that the proposed method achieved a reliable and rapid solution and improved a launch vehicle’s adaptability to a thrust drop fault.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"35 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75237001","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-03-07DOI: 10.1142/s2737480722500029
Yuanyang Qi, Jincun Liu, Junzhi Yu
The task of path planning in amphibious environments requires additional consideration due to the complexity of the amphibious environments. This paper presents a path planning method for an amphibious robot named “AmphiRobot” with its dynamic constraints considered. First, an explicit dynamic model using Kane’s method is presented. The hydrodynamic parameters are obtained through computational fluid dynamics simulations. Furthermore, a path planning method based on a hybrid fireworks algorithm is proposed, combining the fireworks algorithm and bare bones fireworks algorithm, aiming at the amphibious robot’s characteristics of multiple motion modes and working environments. The initially planned path is then smoothed using Dubins path under constraints determined by the dynamic model. Simulation reveals that the performance of the hybrid fireworks algorithm approach is better than the fireworks algorithm and bare bones fireworks algorithm is applied separately in the amphibious environment scenarios.
{"title":"Dynamic Modeling and Hybrid Fireworks Algorithm-Based Path Planning of an Amphibious Robot","authors":"Yuanyang Qi, Jincun Liu, Junzhi Yu","doi":"10.1142/s2737480722500029","DOIUrl":"https://doi.org/10.1142/s2737480722500029","url":null,"abstract":"The task of path planning in amphibious environments requires additional consideration due to the complexity of the amphibious environments. This paper presents a path planning method for an amphibious robot named “AmphiRobot” with its dynamic constraints considered. First, an explicit dynamic model using Kane’s method is presented. The hydrodynamic parameters are obtained through computational fluid dynamics simulations. Furthermore, a path planning method based on a hybrid fireworks algorithm is proposed, combining the fireworks algorithm and bare bones fireworks algorithm, aiming at the amphibious robot’s characteristics of multiple motion modes and working environments. The initially planned path is then smoothed using Dubins path under constraints determined by the dynamic model. Simulation reveals that the performance of the hybrid fireworks algorithm approach is better than the fireworks algorithm and bare bones fireworks algorithm is applied separately in the amphibious environment scenarios.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"70 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78694015","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-02-28DOI: 10.1142/s2737480722500017
Qiang Fu, Xinqi Wang, Yao Zou, Wei He
In this paper, a miniature video stabilization system is designed to deal with the image jitter and motion blur problem for flapping-wing aerial vehicles (FWAVs). First, a light and two-axis pan–tilt (about 13[Formula: see text]g) is built for the FWAV to counteract most of the jitter effect. Then, an electronic image stabilization method combined with a Micro-Electro Mechanical Systems (MEMSs) gyroscope is proposed to further stabilize the images. Finally, flight experiment results show that the designed video stabilization system effectively improves the quality of aerial videos.
{"title":"A Miniature Video Stabilization System for Flapping-Wing Aerial Vehicles","authors":"Qiang Fu, Xinqi Wang, Yao Zou, Wei He","doi":"10.1142/s2737480722500017","DOIUrl":"https://doi.org/10.1142/s2737480722500017","url":null,"abstract":"In this paper, a miniature video stabilization system is designed to deal with the image jitter and motion blur problem for flapping-wing aerial vehicles (FWAVs). First, a light and two-axis pan–tilt (about 13[Formula: see text]g) is built for the FWAV to counteract most of the jitter effect. Then, an electronic image stabilization method combined with a Micro-Electro Mechanical Systems (MEMSs) gyroscope is proposed to further stabilize the images. Finally, flight experiment results show that the designed video stabilization system effectively improves the quality of aerial videos.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"6 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73723529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-01DOI: 10.1142/s2737480721400033
Ting Li, Chun Liu, Zhengzhi Yu, Xin Zhao
This study investigates the fault detection and fault estimation problem of a quadrotor with disturbances. A synthesized design of adaptive and sliding-mode observer is proposed to address the effective detection and estimation of incipient faults. First, the decomposed subsystems are obtained through the coordinate transformation, and the initial and incipient faults are separated from the disturbances. Second, an adaptive observer is applied to the decomposed unperturbed subsystem to estimate incipient faults, while the sliding-mode observer remains robust to disturbances for the perturbed subsystem. Lyapunov stability theory ensures the convergence of dynamic errors and the stability of the quadrotor system. Finally, the effectiveness of the proposed synthesized algorithm of incipient fault detection is verified by the quadrotor simulation.
{"title":"A Synthesized Design of Adaptive and Sliding-Mode Observer-Based Incipient Fault Detection for a Quadrotor","authors":"Ting Li, Chun Liu, Zhengzhi Yu, Xin Zhao","doi":"10.1142/s2737480721400033","DOIUrl":"https://doi.org/10.1142/s2737480721400033","url":null,"abstract":"This study investigates the fault detection and fault estimation problem of a quadrotor with disturbances. A synthesized design of adaptive and sliding-mode observer is proposed to address the effective detection and estimation of incipient faults. First, the decomposed subsystems are obtained through the coordinate transformation, and the initial and incipient faults are separated from the disturbances. Second, an adaptive observer is applied to the decomposed unperturbed subsystem to estimate incipient faults, while the sliding-mode observer remains robust to disturbances for the perturbed subsystem. Lyapunov stability theory ensures the convergence of dynamic errors and the stability of the quadrotor system. Finally, the effectiveness of the proposed synthesized algorithm of incipient fault detection is verified by the quadrotor simulation.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"65 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90499565","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-01DOI: 10.1142/s273748072140001x
Linjie Huang, Hailong Pei
Yaw control is significant to the attitude control of small unmanned helicopters (SUHs). Since the existing robust control method cannot be applied to the SUH with unknown dynamics and disturbances, this paper proposes an improved active disturbance rejection control (IADRC) to solve the problem. The IADRC obtains the optimal solution of the actuator gain ([Formula: see text]) by gradient descent. Besides, this paper summarizes some experiences during the tuning process of ADRC, which significantly reduces the difficulty of designing ADRC. Finally, the experimental results show that the proposed method is better than the traditional PID in robust and tracking control performance.
{"title":"Design of Yaw Controller for a Small Unmanned Helicopter Based on Improved ADRC","authors":"Linjie Huang, Hailong Pei","doi":"10.1142/s273748072140001x","DOIUrl":"https://doi.org/10.1142/s273748072140001x","url":null,"abstract":"Yaw control is significant to the attitude control of small unmanned helicopters (SUHs). Since the existing robust control method cannot be applied to the SUH with unknown dynamics and disturbances, this paper proposes an improved active disturbance rejection control (IADRC) to solve the problem. The IADRC obtains the optimal solution of the actuator gain ([Formula: see text]) by gradient descent. Besides, this paper summarizes some experiences during the tuning process of ADRC, which significantly reduces the difficulty of designing ADRC. Finally, the experimental results show that the proposed method is better than the traditional PID in robust and tracking control performance.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"11 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86810033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Control system is very important for each autonomous surface vehicle (ASV), which involves the problem of maintaining the vehicle’s position and heading using feedback controller and achieving the desired forces through thrust allocation. In this paper, we present a practical thrust allocator for under-actuated and fully-actuated vehicles, which can be represented as a quadratic programming (QP) problem with linear constraints. Such an optimization method allows us to consider common propulsion system, including tunnel thruster, azimuth thruster, and fixed propeller with rudder. These linear constraints enable us to explicitly account for the rate, amplitude and azimuth constraints of each propeller on the vessel. The proposed methods have been illustrated by simulated and experimental maneuvers for different thruster layout of a vehicle.
{"title":"Real-Time Control Allocation for Autonomous Surface Vehicle Using Constrained Quadratic Programming","authors":"Xiaocheng Liu, Zhihuan Hu, Ziheng Yang, Weidong Zhang","doi":"10.1142/s2737480721400070","DOIUrl":"https://doi.org/10.1142/s2737480721400070","url":null,"abstract":"Control system is very important for each autonomous surface vehicle (ASV), which involves the problem of maintaining the vehicle’s position and heading using feedback controller and achieving the desired forces through thrust allocation. In this paper, we present a practical thrust allocator for under-actuated and fully-actuated vehicles, which can be represented as a quadratic programming (QP) problem with linear constraints. Such an optimization method allows us to consider common propulsion system, including tunnel thruster, azimuth thruster, and fixed propeller with rudder. These linear constraints enable us to explicitly account for the rate, amplitude and azimuth constraints of each propeller on the vessel. The proposed methods have been illustrated by simulated and experimental maneuvers for different thruster layout of a vehicle.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"35 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91109550","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-01DOI: 10.1142/s2737480721400045
Chang-Gyeong Yu, Bing Zhu, Zongyu Zuo
Three-dimensional guidance laws are designed to intercept non-maneuvering targets and maneuvering targets in this paper. An optimal control approach with constant or time-variant feedback gain is proposed for interception. The cost function is designed with considerations on energy-efficiency and time-efficiency in the transient process. Lyapunov redesign method is applied to treat the target acceleration, where the precise information of target accelerations is not necessarily required. Efficacy of the proposed guidance laws is proved theoretically and verified by simulation results.
{"title":"Three-Dimensional Optimal Guidance with Lyapunov Redesign for UAV Interception","authors":"Chang-Gyeong Yu, Bing Zhu, Zongyu Zuo","doi":"10.1142/s2737480721400045","DOIUrl":"https://doi.org/10.1142/s2737480721400045","url":null,"abstract":"Three-dimensional guidance laws are designed to intercept non-maneuvering targets and maneuvering targets in this paper. An optimal control approach with constant or time-variant feedback gain is proposed for interception. The cost function is designed with considerations on energy-efficiency and time-efficiency in the transient process. Lyapunov redesign method is applied to treat the target acceleration, where the precise information of target accelerations is not necessarily required. Efficacy of the proposed guidance laws is proved theoretically and verified by simulation results.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"30 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78636780","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-01DOI: 10.1142/s2737480721400069
V. Deshpande, Youmin Zhang
The vast majority of today’s engineering systems possess operational constraints and have multiple inputs and outputs. This classifies them as Multi-Input Multi-Output (MIMO) systems. This paper develops a novel observer-based fault diagnosis scheme with the capability of simultaneous state and actuator fault estimation for Linear Time-Invariant (LTI) MIMO systems, which is then integrated with Model Predictive Control (MPC) method for achieving fault-tolerant control. The application within this study is chosen to be the longitudinal flight control of a fixed-wing Unmanned Aerial Vehicle (UAV). The observer-based method is combined with two MPC schemes to detect and compensate randomly occurring actuator faults in real time. The faults are modeled as a Loss Of Effectiveness (LOE). For the first (efficient) MPC method, a simple reconfiguration can be performed in the event of faults, as it is based on an absolute input formulation. However, as the second (integral-action) MPC is based on an incremental input formulation, reconfiguration is not required, since this algorithm has a degree of implicit fault tolerance. Numerical simulations demonstrate the effectiveness of the proposed approach for both MPC schemes.
{"title":"Fault-Tolerant Model Predictive Control of a Fixed-Wing UAV with Actuator Fault Estimation","authors":"V. Deshpande, Youmin Zhang","doi":"10.1142/s2737480721400069","DOIUrl":"https://doi.org/10.1142/s2737480721400069","url":null,"abstract":"The vast majority of today’s engineering systems possess operational constraints and have multiple inputs and outputs. This classifies them as Multi-Input Multi-Output (MIMO) systems. This paper develops a novel observer-based fault diagnosis scheme with the capability of simultaneous state and actuator fault estimation for Linear Time-Invariant (LTI) MIMO systems, which is then integrated with Model Predictive Control (MPC) method for achieving fault-tolerant control. The application within this study is chosen to be the longitudinal flight control of a fixed-wing Unmanned Aerial Vehicle (UAV). The observer-based method is combined with two MPC schemes to detect and compensate randomly occurring actuator faults in real time. The faults are modeled as a Loss Of Effectiveness (LOE). For the first (efficient) MPC method, a simple reconfiguration can be performed in the event of faults, as it is based on an absolute input formulation. However, as the second (integral-action) MPC is based on an incremental input formulation, reconfiguration is not required, since this algorithm has a degree of implicit fault tolerance. Numerical simulations demonstrate the effectiveness of the proposed approach for both MPC schemes.","PeriodicalId":6623,"journal":{"name":"2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)","volume":"25 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79133369","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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