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Peer-to-Peer Networking and Applications

Erschienen in:

18.11.2016

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

verfasst von: Pu Yang, Xu Pan, Jianwei Liu, Ruicheng Guo

Erschienen in: Peer-to-Peer Networking and Applications | Ausgabe 3/2017

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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.

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Titel: Optimal fault-tolerant control for UAV systems with time delay and uncertainties over wireless network
verfasst von: Pu Yang
Xu Pan
Jianwei Liu
Ruicheng Guo
Publikationsdatum: 18.11.2016
Verlag: Springer US
Erschienen in: Peer-to-Peer Networking and Applications / Ausgabe 3/2017
Print ISSN: 1936-6442
Elektronische ISSN: 1936-6450
DOI: https://doi.org/10.1007/s12083-016-0527-3

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