Data-Driven Fault-Tolerant Control for Attitude Synchronization of Nonlinear Quadrotors

被引：69
|
作者：
Zhao, Wanbing [1 ,2 ]
Liu, Hao [1 ,2 ]
Lewis, Frank L. [3 ]
机构：
[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China
[2] Beihang Univ, Key Lab Spacecraft Design Optimizat & Dynam Simul, Minist Educ, Beijing 100191, Peoples R China
[3] Univ Texas Arlington, Res Inst, Ft Worth, TX 76118 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2021年 / 66卷 / 11期
基金：
中国国家自然科学基金;
关键词：
Actuators; Fault tolerant systems; Fault tolerance; Synchronization; Optimal control; Rotors; Nonlinear dynamical systems; Data-based; fault-tolerant control (FTC); quadrotor system; reinforcement learning (RL); synchronization control; ACTUATOR FAULT; TRACKING; DIAGNOSIS; SYSTEMS; UAVS;
D O I：
10.1109/TAC.2021.3053194
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, the data-driven fault-tolerant synchronization control problem is investigated for unknown cooperative quadrotors subject to nonlinearities and multiple actuator faults in the quadrotor dynamics. A distributed observer is provided to estimate the state of the virtual leader. Based on the reinforcement learning theory, the optimal control policy is learned for each quadrotor without any knowledge of the quadrotor dynamic information. Then, the learned control policy is used to construct a data-based fault-tolerant controller to restrain the effects of quadrotor actuator faults. Stability of the constructed controller is proven and the simulation results illustrate the effectiveness of the proposed controller.
引用
收藏
页码：5584 / 5591
页数：8
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