Fault Tolerant Control of Quadrotor UAV Based on Support Vector Machine

doi:10.1109/ICCSSE.2019.00010

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	Fault Tolerant Control of Quadrotor UAV Based on Support Vector Machine
	Jun, Wang; Tian, Yuyang
	2019-08-01
会议日期	August 14, 2019 - August 16, 2019
会议地点	Shanghai, China
关键词	Actuators Ant colony optimization Controllers Fault tolerance Support vector machines Systems engineering Unmanned aerial vehicles (UAV) Actuator failures Ant colony algorithms Collaborative design Experimental platform Fault tolerant control Fault tolerant controllers Off-line optimization Online scheduling
DOI	10.1109/ICCSSE.2019.00010
页码	10-13
英文摘要	Aiming at the problem of partial failure of Quadrotor uav actuator, a collaborative design method of optimizing PID parameters of controller, fault diagnosis and fault-tolerant control is proposed. Firstly, the off-line optimization of PID parameters of four-rotor uav controller is carried out by using ant colony algorithm. According to the severity of actuator fault, the fault is partitioned and the corresponding fault tolerant controller is designed. In the case of actuator failure, support vector machine (SVM) is used to diagnose the fault, and then the fault of the fault tolerant controller is compensated by online scheduling. Finally, the feasibility and effectiveness of the proposed method are verified on the matlab experimental platform. © 2019 IEEE.
会议录	Proceedings - 5th International Conference on Control Science and Systems Engineering, ICCSSE 2019
会议录出版者	Institute of Electrical and Electronics Engineers Inc., United States
语种	英语
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/117966]
专题	兰州理工大学
作者单位	College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China
推荐引用方式 GB/T 7714	Jun, Wang,Tian, Yuyang. Fault Tolerant Control of Quadrotor UAV Based on Support Vector Machine[C]. 见:. Shanghai, China. August 14, 2019 - August 16, 2019.