| A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles |
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| 作者姓名： | Ziquan YU Youmin ZHANG Bin JIANG Jun FU Ying JIN |
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| 作者单位： | College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Department of Mechanical,Industrial and Aerospace Engineering,Concordia University,Montreal,QC H3G 1M8,Canada;State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang 110819,China |
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| 基金项目： | supported in part by National Natural Science Foundation of China (Nos. 61833013, 62003162, 62020106003, and 61873055)；;Natural Science Foundation of Jiangsu Province of China (No. BK20200416)；;China Postdoctoral Science Foundation (Nos. 2020TQ0151, 2020M681590)；;111 Project, China (No. B20007)；;Natural Sciences and Engineering Research Council of Canada； |
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| 摘 要： | This paper presents the recent developments in Fault-Tolerant Cooperative Control(FTCC) of multiple unmanned aerial vehicles(multi-UAVs). To facilitate the analyses of FTCC methods for multi-UAVs, the formation control strategies under fault-free flight conditions of multi-UAVs are first summarized and analyzed, including the leader-following, behavior-based, virtual structure, collision avoidance, algebraic graph-based, and close formation control methods,which are viewed as the cooperative con...
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| 收稿时间： | 15 October 2020 |
A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles |
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| Ziquan YU,Youmin ZHANG,Bin JIANG,Jun FU,Ying JIN.A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles[J].Chinese Journal of Aeronautics,2022,35(1):前插1,1-18. |
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| Authors: | Ziquan YU Youmin ZHANG Bin JIANG Jun FU Ying JIN |
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| Institution: | 1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;2. Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC H3G 1M8, Canada;3. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China |
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| Abstract: | This paper presents the recent developments in Fault-Tolerant Cooperative Control(FTCC)of multiple unmanned aerial vehicles(multi-UAVs).To facilitate the analyses of FTCC methods for multi-UAVs,the formation control strategies under fault-free flight conditions of multi-UAVs are first summarized and analyzed,including the leader-following,behavior-based,vir-tual structure,collision avoidance,algebraic graph-based,and close formation control methods,which are viewed as the cooperative control methods for multi-UAVs at the pre-fault stage.Then,by considering the various faults encountered by the multi-UAVs,the state-of-the-art developments on individual,leader-following,and distributed FTCC schemes for multi-UAVs are reviewed in detail.Finally,conclusions and challenging issues towards future developments are presented. |
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| Keywords: | Cooperative Fault Detection and Diagnosis(CFDD) Cooperative/formation/swarm control Fault Detection and Diag-nosis(FDD) Fault-Tolerant Control(FTC) Fault-Tolerant Cooperative Control(FTCC) Unmanned Aerial Vehicles(UAVs) |
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