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Proceedings Paper

Fault tolerant cooperative control for UAV rendezvous problem subject to actuator faults
Author(s): T. Jiang; N. Meskin; E. Sobhani-Tehrani; K. Khorasani; C. A. Rabbath
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Paper Abstract

This paper investigates the problem of fault tolerant cooperative control for UAV rendezvous problem in which multiple UAVs are required to arrive at their designated target despite presence of a fault in the thruster of any UAV. An integrated hierarchical scheme is proposed and developed that consists of a cooperative rendezvous planning algorithm at the team level and a nonlinear fault detection and isolation (FDI) subsystem at individual UAV's actuator/sensor level. Furthermore, a rendezvous re-planning strategy is developed that interfaces the rendezvous planning algorithm with the low-level FDI. A nonlinear geometric approach is used for the FDI subsystem that can detect and isolate faults in various UAV actuators including thrusters and control surfaces. The developed scheme is implemented for a rendezvous scenario with three Aerosonde UAVs, a single target, and presence of a priori known threats. Simulation results reveal the effectiveness of our proposed scheme in fulfilling the rendezvous mission objective that is specified as a successful intercept of Aerosondes at their designated target, despite the presence of severe loss of effectiveness in Aerosondes engine thrusters.

Paper Details

Date Published: 2 May 2007
PDF: 12 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 65611J (2 May 2007); doi: 10.1117/12.720016
Show Author Affiliations
T. Jiang, Concordia Univ. (Canada)
N. Meskin, Concordia Univ. (Canada)
E. Sobhani-Tehrani, Concordia Univ. (Canada)
K. Khorasani, Concordia Univ. (Canada)
C. A. Rabbath, Defence Research and Development Canada (Canada)


Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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