This paper focuses on the modeling and a generalized control framework for the coordinated quadrotor UAVs-Load transportation system. At first, the relatively complete dynamic models for multiple quadrotor UAVs are established under undetectable actuation faults and uncertain wind interference, considering the external effects of the load on the translational and rotational motions of each quadrotor UAV. And in order to transport the load smoothly and safely, the consensus control problem how to make the UAVs maintain the designed geometric configuration is formulated correspondingly. Finally, by introducing the virtual parameter estimation error into the Lyapunov function based on neighboring UAVs state information, the adaptive fault-tolerant controllers are developed to ensure that the defined synchronization errors for the UAVs position and attitude are uniform ultimate bound(UUB). The simulation results also prove the effectiveness of the proposed control approach.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fault-tolerant Cooperative Control of Multiple Quadrotor UAVs Handling a Common Load


    Beteiligte:
    Lu, Yi (Autor:in) / Shen, Zhixi (Autor:in) / Dang, Long (Autor:in)


    Erscheinungsdatum :

    07.05.2024


    Format / Umfang :

    1610705 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Fault-Tolerant Mapping and Localization for Quadrotor UAVs

    Gilson, Maximillian / Gauthier, Jason / Garcia, Kaylee et al. | AIAA | 2021


    Fault Tolerant Cooperative Control for Heterogeneous Multiple UAVs

    Yang, Huiliao / Jiang, Bin / Yang, Hao | IEEE | 2018


    FAULT-TOLERANT MAPPING AND LOCALIZATION FOR QUADROTOR UAVS

    Gilson, Maximillian / Gauthier, Jason / Garcia, Kaylee et al. | TIBKAT | 2021


    Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs

    Merheb, Abdel-Razzak / Noura, Hassan / Bateman, Francois et al. | IEEE | 2015