Distributed Robust Adaptive Fault-Tolerant Mechanism for Quadrotor UAV Real-Time Wireless Network Systems With Random Delay and Packet Loss

Abstract

This research combines a next-generation wireless network and a quadrotor unmanned aerial vehicle (UAV) to create a real-time wireless network quadrotor UAV flight control system. Three major problems will occur when the system operates, such as external disturbances, internal actuator failures and wireless network association failures (random delay and packet loss). We propose a hierarchical distributed comprehensive robust adaptive fault-tolerant control algorithm based on robust fault-tolerant theory to improve the performance of this system. The simulation and flight experimental test results show that when this system is analyzed with respect to external disturbances, internal actuator failures and wireless network association failures, the designed controller stability is asymptotically stable, the performance of this system is very good and the system provides a strategy for establishing a ground-to-air self-organizing wireless network.

Distributed robust H∞ adaptive fault-tolerant control of amorphous and flat air-to-ground wireless self-organizing network system

“…14749, 2.2276, 1.97784, 1.89754, 2.14526, 2. That is, the pitch angle, roll angle and yaw angle can gradually stabilize the system with the designed controller and then accurately reach the desired value of the system. Compared with reference (Wang et al, 2019), this paper added the drift fault of the internal actuator of the quadrotor UAV and the fault continued until the end of the simulation. When the quadrotor UAV faces the three major faults of random interruption of internal actuators, partial failure and drift.…”

“…With the incremental update of 4G technology, 5G communication system steadily develops, 6G new concept is proposed. The cross-integrated development of electronic science and technology, control theory and wireless communications now make the current cross-system is more and more complex, the attributes of controlled objects are increasingly unconfigured and the system-related performance indicators are increasingly strict, then how to balance the fault tolerance performance of the system that combines control and communication, which is a hot issue that is currently facing (Seuret and Gouaisbaut, 2018;Wang et al, 2021;Wang et al, 2019).…”

“…Still, their antiinterference fault tolerance is not very good. Then it is easy to generate fault problems such as packet loss and delay (Wang et al, 2019). For the traditional ad hoc network systems, it can be upgraded simultaneously from hardware and software, thereby improving a specific limit of fault tolerance; from hardware, the key components of the 3G mobile network can be integrated into a single network element that supports the mobile broadband service, thereby enabling the original complex hierarchy to flatten, making the structure more simple (Rouse et al, 2001;Lee et al, 2000;Khelifi, 2020).…”

An Object-Oriented Systems Engineering Point of View to Develop Controllers of Quadrotor Unmanned Aerial Vehicles

“…Structural Approaches for Q-UAV Controllers. In the present design of complex systems, many applications use standard control methods together with soft-computing approaches to make them more effective for controllers of such systems [26][27][28][29][30]. These have also been applied to the construction of Q-UAV controllers; for example, some of the main control methods and assessments for Q-UAV applications are summarized in Table 1.…”

Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

“…When the payload is empty, attitude dynamic system of the quad-rotor is originally highly nonlinear. The pitch, roll, and yaw torques can approximately be decoupled because of the nearly symmetric frame structure (mathematically the inertia matrix is diagonal) [10], [33], [43], [45], [46], [48], [51]. However, when the unknown payload is loaded using rigid connection, symmetry of the quad-rotor is broken such that the inertia matrix becomes non-diagonal, which in turn results in couplings among the pitch, roll, and yaw torques.…”