Formation Fault Tolerant Controls And Simulation Platform Of UAV

This paper studies fault tolerant formation flight control of Unmanned Aircrafts. Based on thefeedback control technology and hybrid system technique, fault tolerant control algorithms areproposed to study fault tolerant control of both permanent fault and intermittent fault. Moreover, thecontrol scheme can guarantee the stability of closed-loop system and is capable of tracking the givencommand in the case of both permanent and intermittent faults. Finally simulation results and the GUIplatform can verify the effectiveness of the proposed fault-tolerant control scheme intuitively andsuccinctly.Firstly, the backgrounds, purposes and meanings are surveyed, then the history and thedevelopment of the fault and fault-tolerant control are described. An overview of the present situationof studies and researches about UAVs formation flight are elaborated followed by the description ofmain content of this article, and the combination of the formation model and UAV model is realized.Secondly, the formation model that describes the position relationship is studied, the changes ofthe formation can be observed through the relationship between UAVs. Also, the nonlinear model ofUnmanned Aircrafts is described, and then the nonlinear model is simplified. The purpose is toprovide a mathematical simulation model for the fault tolerant control algorithm in the next chapter.Thirdly, a fault-tolerant control scheme is proposed for UAVs formation to deal with permanentfault at first. The control scheme combines the advantages of the linear state feedback control toconstitute a fault-tolerant control law, moreover, the control scheme can guarantee the stability ofclosed-loop system and is capable of tracking given command in the case of permanent fault. As forthe intermittent fault, a stochastic switched system is used to model an UAVs flight control system,whose stability is shown to be equivalent to the fault tolerability of the UAVs flight control system.Results shown in this study demonstrate that it may not be necessary to apply the fault tolerantcontroller in spite of intermittent fault. Finally, simulation results verify the effectiveness of theproposed fault-tolerant control scheme.Finally, a simulation platform of friendly interface is studied for UAVs control system based onthe previous theoretical research. By using the organic combination of design features, dataprocessing function and drawing function of GUI, the dynamic simulation and performance analysisof formation flight can become fast、flexible、intuitive and efficient. As long as master the methods ofthe interface design,, and by combining with the various built-in library functions of Matlab and various tools of simulink, we can quickly develop the simulation platform of friendly interface thatmeets all needs.