Adaptive Fault-Tolerant Control of a Hybrid Canard Rotor/Wing UAV Under Transition Flight Subject to Actuator Faults and Model Uncertainties

Wang, Ban; Zhu, Dehai; Han, Linying; Gao, Honggang; Gao, Zhenghong; Zhang, Youmin

doi:10.1109/taes.2023.3243580

Cited by 32 publications

(18 citation statements)

References 48 publications

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“…(1) Te service node is aware of the channel state information (CSI), the size of each task's input data, and the task's cycle count. An efcient resource allocation and ofoading decision can be made based on the aforementioned hypotheses [46][47][48]. (2) Each application's calculation result data are considerably less than its calculation input data; therefore, the calculation results' backhaul link transmission latency is disregarded.…”

Section: System Modelmentioning

confidence: 99%

An Efficient Algorithm for Resource Allocation in Mobile Edge Computing Based on Convex Optimization and Karush–Kuhn–Tucker Method

Wang,

Akhtar,

Al-Zahrani

2023

Complexity

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Mobile edge computing (MEC) is receiving more attention than centralized cloud computing due to the massive increase in transmission and compute requirements in 5G vehicle networks. It offers a significant amount of processing and storage resources to the edge of networks, offloading applications from vehicle terminals that are computation-intensive and delay-sensitive. For devices with limited resources, it uses edge resources to provide computationally heavy operations while conserving energy. This paper proposes a novel approach for computing offloading in MEC. To effectively optimize the MEC resources, this paper proposes a novel algorithm. First, the joint optimization and service cache decision subproblems were determined from continuous and discrete variables. Then, the near-optimal solution is determined from the subproblems through convex optimization and Karush–Kuhn–Tucker method. Simulation results show that the proposed algorithm has better computational offloading and resource allocation performance as compared to existing algorithms.

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Section: System Modelmentioning

confidence: 99%

An Efficient Algorithm for Resource Allocation in Mobile Edge Computing Based on Convex Optimization and Karush–Kuhn–Tucker Method

Wang,

Akhtar,

Al-Zahrani

2023

Complexity

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“…The ultimate and main goal in UAV modeling and simulation is to create a safe and reliable system with a fast time [96]. The obtained model will use for simulation in the specific and even in dangerous condition [97][98] [99]. For example, in longitudinal mode will simulate altitude and speed control simulation, whereas in lateral mode will simulate heading control simulation.…”

Section: B Analytical Model Validationmentioning

confidence: 99%

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Priyambodo

Majid²,

Shouran³

2023

Journal of Robotics and Control

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Vertical take-off and landing (VTOL) is a type of unmanned aerial vehicle (UAV) that is growing rapidly because its ability to take off and land anywhere in tight spaces. One type of VTOL UAV, the tail-sitter, has the best efficiency. However, besides the efficiency offered, some challenges must still be overcome, including the complexity of combining the ability to hover like a helicopter and fly horizontally like a fixed-wing aircraft. This research has two contributions: in the form of how the analytical model is generated and the tools used (specifically for the small VTOL quad tail-sitter UAV) and how to utilize off-the-shelf components for UAV empirical modeling. This research focuses on increasing the speed and accuracy of the UAV VTOL control design in fixed-wing mode. The first step is to carry out analysis and simulation. The model is analytically obtained using OpenVSP in longitudinal and lateral modes. The next step is to realize this analytical model for both the aircraft and the controls. The third step is to measure the flight characteristics of the aircraft. Based on the data recorded during flights, an empirical model is made using system identification technique. The final step is to vali-date the analytical model with the empirical model. The results show that the characteristics of the analytical mode fulfill the specified requirements and are close to the empirical model. Thus, it can be concluded that the analytical model can be implemented directly, and consequently, the VTOL UAV design and development process has been shortened.

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“…Linear parameter varying (LPV) methodology [16] showed the robust performance to aileron and rudder loss-of-efficiency faults, based on it, a virtual actuators was reconfigured to mitigate fault effects [17]. Generally, adaptive control schemes are often designed together with a recurrent neural networks [18], linear quadratic regulator [19], dynamic control allocation [20] in active fault-tolerant control. It is worth noting that there needs a trade-off between robustness of close-loop system and convergence speed in direct FTC schemes.…”

Section: Introductionmentioning

confidence: 99%

Performance-Constraint Fault Tolerant Control to Aircraft in Presence of Actuator Deviation

Tang,

Zhao,

Liang

et al. 2024

Algorithms

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Accuracy of electro-mechanical actuator in aircraft is susceptible to variable operation conditions such as electromagnetic interference, changeable temperature or loss of maintenance, leading in turn to flight performance degradation. This paper proposed an unified control paradigm that aims to keep aircraft’s velocity in a safe boundary and shorten the system stabilizing time in presence of actuator deviation. The controller is derived following a practical finite-time-convergence (FTC) with extended dynamics, and an integrated state-constraint structure so as to restrict air vehicle’s attitude rate or translation velocity. It is proved that the system state converges to a sphere near the origin in a finite time, the state trajectory is always remain within the prescribed range, and all signals of the closed-loop system are uniformly ultimately bounded. Compared simulation with the quadratic Lyapunov-based FTC method and an asymptotic convergence controller are conducted on an unmanned helicopter prototype. Results show that the proposed controller enhances the dynamic and fault-tolerant performance of resisting actuator fluctuation.

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Adaptive Fault-Tolerant Control of a Hybrid Canard Rotor/Wing UAV Under Transition Flight Subject to Actuator Faults and Model Uncertainties

Cited by 32 publications

References 48 publications

An Efficient Algorithm for Resource Allocation in Mobile Edge Computing Based on Convex Optimization and Karush–Kuhn–Tucker Method

An Efficient Algorithm for Resource Allocation in Mobile Edge Computing Based on Convex Optimization and Karush–Kuhn–Tucker Method

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Performance-Constraint Fault Tolerant Control to Aircraft in Presence of Actuator Deviation

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