Fault tolerant formation flight control of UAVs. (7th February 2005)

• Record Type: Journal Article
• Authors: Zhang, X.; Xu, R.; Kwan, C.; Haynes, L.; Yang, Y.; Polycarpou, M.M.
• Is Part Of: International journal of vehicle autonomous systems. Volume 2:Number 3/4(2004)
• Page Start: 217
• Page End: 235
• Publication Date: 2005-02-07
• Subjects: fault detection -- fault tolerant control -- formation flight -- global positioning system -- GPS -- unmanned air vehicles -- fault tolerance -- formation control -- sensor failure -- wireless communication packet losses -- flight simulation -- wireless networks -- flight trajectories -- rotary UAVs -- fixed wing UAVs; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

Abstract

In this paper, we summarise our recent results in fault tolerant formation control of Unmanned Air Vehicles (UAV). A fault tolerant control scheme to deal with both GPS sensor failure and wireless communication packet losses is presented. Moreover, some extensions to the formation control algorithms developed by UC Berkeley are made to support time-varying heading and curved flight trajectories. The effectiveness of the presented fault tolerant control scheme is illustrated by real-time formation flight simulations conducted in a wireless network environment. Both rotary and fixed wing UAVs, mesh and triangular formations, and straight and curved trajectories are considered in our real-time simulations.