《Safety and Reliability in Cooperating Unmanned Aerial Systems》

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《Safety and Reliability in Cooperating Unmanned Aerial Systems》
协同无人机系统安全性与可靠性
作者：
Camille Alain Rabbath
Nicolas Léchevin
Defence R&D Canada - Valcartier
出版社：World Scientific
出版时间：2010年

《Safety and Reliability in Cooperating Unmanned Aerial Systems》

《Safety and Reliability in Cooperating Unmanned Aerial Systems》

《Safety and Reliability in Cooperating Unmanned Aerial Systems》

《Safety and Reliability in Cooperating Unmanned Aerial Systems》

目录
Preface v
1. Introduction 1
1.1 Unmanned Aerial Systems . . . . . . . . . . . . . . . . . . 2
1.2 Cooperative Control . . . . . . . . . . . . . . . . . . . . . 3
1.3 Contingencies . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3.1 Faults and failures of UAV components . . . . . . 7
1.3.2 Vehicle damage . . . . . . . . . . . . . . . . . . . 8
1.3.3 Information
ow faults . . . . . . . . . . . . . . . 8
1.3.4 Team anomalies and collisions . . . . . . . . . . . 9
1.3.5 Environmental eects . . . . . . . . . . . . . . . . 10
1.3.6 Book overview . . . . . . . . . . . . . . . . . . . . 11
2. Health Management for the Individual Vehicle: A Review 13
2.1 Passive and Active Fault-Tolerant Control Systems . . . . 14
2.2 Fault/Failure Detection and Diagnosis . . . . . . . . . . . 16
2.3 Control Reconguration . . . . . . . . . . . . . . . . . . . 17
2.4 FTC and FDD Techniques for MAV and SUAV . . . . . . 19
3. Health Monitoring and Adaptation for UAS Formations 21
3.1 Models of Vehicle Dynamics, Flight Control, and Faults . 25
3.1.1 ALTAV dynamics and control . . . . . . . . . . . 26
3.1.2 Quadrotor dynamics and control . . . . . . . . . . 29
3.1.3 Actuator faults . . . . . . . . . . . . . . . . . . . . 31
3.2 Formation Control . . . . . . . . . . . . . . . . . . . . . . 33
3.2.1 Elements of contraction theory . . . . . . . . . . . 35
vii
viii Safety and Reliability in Cooperating Unmanned Aerial Systems
3.2.2 Simplied modeling for the purpose of formation
control synthesis . . . . . . . . . . . . . . . . . . . 37
3.2.3 Formation control objective . . . . . . . . . . . . 42
3.2.4 Closed-loop representation of the formation . . . . 43
3.2.5 Convergence analysis of state trajectories . . . . . 48
3.2.6 Modeling a formation of UAVs with realistic
nonlinear dynamics . . . . . . . . . . . . . . . . . 57
3.2.7 Trajectory of the leader and obstacle/threat
avoidance . . . . . . . . . . . . . . . . . . . . . . . 58
3.2.8 Formation control design algorithm . . . . . . . . 60
3.3 Observer-Based Decentralized Abrupt Fault Detector . . . 61
3.3.1 Context . . . . . . . . . . . . . . . . . . . . . . . . 61
3.3.2 Simplied model of vehicle closed-loop dynamics . 62
3.3.3 Concept of observer with disturbance attenuation 65
3.3.4 Synthesis of DAFD . . . . . . . . . . . . . . . . . 69
3.3.5 Threshold selection . . . . . . . . . . . . . . . . . 77
3.3.6 DAFD design algorithm . . . . . . . . . . . . . . . 79
3.4 Signal-Based Decentralized Non-Abrupt Fault Detector . 80
3.4.1 Context . . . . . . . . . . . . . . . . . . . . . . . . 80
3.4.2 Networked information and coupling eects . . . . 81
3.4.3 Estimator of heading angle . . . . . . . . . . . . . 85
3.4.4 Statistical test for DNaFD . . . . . . . . . . . . . 86
3.4.5 DNaFD design algorithm . . . . . . . . . . . . . . 89
3.5 UAV Command Adaptation . . . . . . . . . . . . . . . . . 90
3.6 Simulations and Experiments . . . . . . . . . . . . . . . . 93
3.6.1 Formation control of unicycles . . . . . . . . . . . 94
3.6.2 Formation control of quadrotor aircraft . . . . . . 102
3.6.3 DAFD and formation control of ALTAVs . . . . . 104
3.6.4 DAFD and quadrotor formation control . . . . . . 112
3.6.5 DNaFD and formation control of ALTAVs . . . . 115
3.6.6 Decentralized fault detection for mixed-type,
concurrent actuator faults . . . . . . . . . . . . . 123
3.6.7 DAFD/DNaFD in closed loop with individual
vehicle FDD system . . . . . . . . . . . . . . . . . 126
3.6.8 A note on the digital implementation . . . . . . . 129
4. Decision Making and Health Management for
Cooperating UAS 131
4.1 Coordinated Rendezvous of UAS Formations . . . . . . . 134
Contents ix
4.1.1 Context . . . . . . . . . . . . . . . . . . . . . . . . 134
4.1.2 Related work . . . . . . . . . . . . . . . . . . . . . 137
4.1.3 Multi-formations . . . . . . . . . . . . . . . . . . . 138
4.1.4 Models . . . . . . . . . . . . . . . . . . . . . . . . 140
4.1.5 UAS-threat encounters modeled as Markov
decision processes . . . . . . . . . . . . . . . . . . 152
4.1.6 Problem formulation . . . . . . . . . . . . . . . . 156
4.1.7 Decision policies: perfect information . . . . . . . 160
4.1.8 Decision policies: partially known environment . . 164
4.1.9 Design of CHM and decision making system . . . 173
4.2 Cooperation Despite Information Flow Faults . . . . . . . 174
4.2.1 Context . . . . . . . . . . . . . . . . . . . . . . . . 174
4.2.2 Impact of information
ow fault on UAS decision
policies . . . . . . . . . . . . . . . . . . . . . . . . 175
4.2.3 Health state estimation . . . . . . . . . . . . . . . 177
4.2.4 Distributed computations of fW0
ki;
E;j . . . . . 182
4.3 Numerical Simulations . . . . . . . . . . . . . . . . . . . . 184
4.3.1 Single target area and perfectly known
environment . . . . . . . . . . . . . . . . . . . . . 184
4.3.2 Sequence of targets and perfect knowledge of
environment . . . . . . . . . . . . . . . . . . . . . 191
4.3.3 The case of perturbed MDPs . . . . . . . . . . . . 193
4.3.4 Successive zones of surveillance in partially known
environment . . . . . . . . . . . . . . . . . . . . . 197
4.3.5 Information
ow faults . . . . . . . . . . . . . . . 199
4.4 Distributed and Parallel Implementation of Optimization
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . 200
4.4.1 Context . . . . . . . . . . . . . . . . . . . . . . . . 200
4.4.2 Architecture . . . . . . . . . . . . . . . . . . . . . 201
4.4.3 Distributed and parallel simulation environment . 202
4.4.4 Experiments . . . . . . . . . . . . . . . . . . . . . 204
Bibliography 207
Index 221


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协同无人机系统安全性与可靠性

《Safety and Reliability in Cooperating Unmanned Aerial Systems》

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