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CURATOR

PhD Student, University of Alberta

PINBOARD SUMMARY

Unmanned Aerial vehicles must know their current position for controlled movements in the environment. Position data comes from GPS for outdoor flight or VICON system for indoor flight, however, the measurements received from these systems are delayed which may cause instability in control leading UAV to crash. The focus of my current research is to develop estimation techniques to predict correct position using noisy measurements from on-board sensors i.e. accelerometer and gyroscope and blend with last delayed measurement received from GPS or VICON to precisely estimate the position.

6 ITEMS PINNED

Optimal fault-tolerant control for UAV systems with time delay and uncertainties over wireless network

Abstract: Abstract This paper presents an optimal fault-tolerant control scheme for time-delay systems in wireless network. In order to solve the problem of time delay caused by wireless transmission, time delay compensation item is added to the sliding surface to eliminate the impact of state time delay. Aiming at the modeling uncertainties of the systems, sufficient conditions for asymptotic stability of ideal sliding mode of the system are given based on LMI (linear matrix inequality) technique. To deal with the actuator faults, optimal index of quadratic form is designed to optimize the control law of the nominal system, and then the sliding mode switching control law is constructed to complete the optimal fault-tolerant control for time delay systems with the actuator faults. Finally, the proposed method is applied to the wireless network control system of the quad-rotor UAV (Unmanned Aerial Vehicle). The experiment results show that the proposed method in this paper has obvious advantages compared with the traditional method.AbstractThis paper presents an optimal fault-tolerant control scheme for time-delay systems in wireless network. In order to solve the problem of time delay caused by wireless transmission, time delay compensation item is added to the sliding surface to eliminate the impact of state time delay. Aiming at the modeling uncertainties of the systems, sufficient conditions for asymptotic stability of ideal sliding mode of the system are given based on LMI (linear matrix inequality) technique. To deal with the actuator faults, optimal index of quadratic form is designed to optimize the control law of the nominal system, and then the sliding mode switching control law is constructed to complete the optimal fault-tolerant control for time delay systems with the actuator faults. Finally, the proposed method is applied to the wireless network control system of the quad-rotor UAV (Unmanned Aerial Vehicle). The experiment results show that the proposed method in this paper has obvious advantages compared with the traditional method.

Pub.: 18 Nov '16, Pinned: 23 Aug '17