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2 May 2007 Fault tolerant cooperative control for UAV rendezvous problem subject to actuator faults
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This paper investigates the problem of fault tolerant cooperative control for UAV rendezvous problem in which multiple UAVs are required to arrive at their designated target despite presence of a fault in the thruster of any UAV. An integrated hierarchical scheme is proposed and developed that consists of a cooperative rendezvous planning algorithm at the team level and a nonlinear fault detection and isolation (FDI) subsystem at individual UAV's actuator/sensor level. Furthermore, a rendezvous re-planning strategy is developed that interfaces the rendezvous planning algorithm with the low-level FDI. A nonlinear geometric approach is used for the FDI subsystem that can detect and isolate faults in various UAV actuators including thrusters and control surfaces. The developed scheme is implemented for a rendezvous scenario with three Aerosonde UAVs, a single target, and presence of a priori known threats. Simulation results reveal the effectiveness of our proposed scheme in fulfilling the rendezvous mission objective that is specified as a successful intercept of Aerosondes at their designated target, despite the presence of severe loss of effectiveness in Aerosondes engine thrusters.
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T. Jiang, N. Meskin, E. Sobhani-Tehrani, K. Khorasani, and C. A. Rabbath "Fault tolerant cooperative control for UAV rendezvous problem subject to actuator faults", Proc. SPIE 6561, Unmanned Systems Technology IX, 65611J (2 May 2007);

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