Trajectory Planning and Re-planning for Fault Tolerant Formation Flight Control of Quadrotor Unmanned Aerial Vehicles

被引：0
|
作者：
Chamseddine, Abbas [1 ]
Zhang, Youmin [1 ]
Rabbath, Camille Alain [2 ]
机构：
[1] Concordia Univ, Dept Mech & Ind Engn, 1455 Maisonneuve Blvd W, Montreal, PQ H3G 1M8, Canada
[2] Def Res & Dev Canada DRDC, Dept Nat Def, Valcartier, PQ G3J 1X5, Canada
来源：
2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes an approach for fault tolerant control of quadrotor UAVs in formation flight. The fault tolerance is achieved by changing the reference trajectories of the entire formation so that to allow the damaged UAV to follow the healthy ones. For this purpose, the virtual structure formation framework is adopted and differential flatness is employed to find the relation between the applied control inputs and the reference trajectories. Simulation results for three UAVs in formation are given to demonstrate the effectiveness of the proposed approach.
引用
收藏
页码：3291 / 3296
页数：6
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